髋关节助力外骨骼的设计与研究

发布时间：2018-08-26 09:32

【摘要】：许多人需要在日常工作和生活中进行长时间或远距离的行走运动,如护士、城市环卫工人、远足爱好者以及士兵等,长时间、长距离的行走经常会导致身体不适以及肌肉疲劳等症状,影响他们的工作效率与生活质量,长期性的肌肉疲劳更是引起肌肉组织损伤的最主要原因,而且肌肉组织损伤对人体运动机能的损害是无法挽回的。目前,我国对于治疗肌肉组织损伤的临床研究还比较少,虽然治疗肌肉组织损伤的方法颇多,但治疗效果均不理想。因此,为了对人体进行更好的保护,提高他们的工作效率及生活质量,研究一种便于穿戴、能够辅助人体下肢进行正常行走运动的装置十分必要。运动辅助功能是外骨骼技术的重要应用领域之一,外骨骼具有对人体运动过程快速跟随的能力,在不改变人体运动状态的情况下给人体提供辅助力,具有环境适应性好、助力充分的优点,用外骨骼辅助人体行走将会极大的提升人体的运动机能。欧美及日本等发达国家一直在外骨骼机器人技术的研究领域有着巨大的投入,并取得了一系列成果。而我国对外骨骼技术的研究起步较晚,技术相对落后,且多集中于康复用外骨骼领域。因此,本课题将开发一套结构简单、控制方便的髋关节助力外骨骼系统。本文深入分析了外骨骼国内外的发展现状,讨论了各类外骨骼的特点。本设计根据实际需要选择了合适的外骨骼自由度个数,并根据人体运动生物力学设计了外骨骼半被动式驱动系统。完成了髋关节助力外骨骼机械结构设计,主要包括外骨骼自由度个数的选择与布置、外骨骼与人体连接部设计。依据对髋关节的人体运动生物力学的分析,外骨骼驱动机构被设计为一半被动式驱动机构。在完成外骨骼机构设计的基础上,通过ADAMS对外骨骼的驱动机构进行了运动过程仿真,验证被动式驱动系统的效果。根据所设计的半被动式驱动系统的特点,设计了一种分阶段控制的控制方法,在后支撑相、前摆动相和过渡相采用SAC控制法,实现外骨骼对人体的跟随,仅依靠被动式驱动机构提供辅助力。在前支撑相和后摆动相采用输出力矩控制法,使外骨骼驱动电机输出合适的力矩,对人体提供辅助力矩。本设计选用TMS320F2812作为外骨骼控制系统的处理器,采用DSP芯片设计的控制系统具有运算速度高的特点,能够充分满足外骨骼系统控制算法对实时性的要求。最后,设计了外骨骼控制系统的硬件电路,包括DSP最小系统电路,双极性H桥驱动电路与电流检测电路。最后,搭建了外骨骼样机实验平台,通过实验验证了SAC控制器和输出力矩控制器的实际效果。
[Abstract]:Many people need long or long walks in their daily work and lives, such as nurses, city sanitation workers, hiking enthusiasts, soldiers, etc., for a long time. Long distance walking often leads to physical discomfort and muscle fatigue, which affects their working efficiency and quality of life. Long-term muscle fatigue is the main cause of muscle tissue damage. And muscle tissue damage to the human body motor function damage is irreparable. At present, there are few clinical studies on the treatment of muscle tissue injury in China. Although there are many methods to treat muscle tissue injury, the therapeutic effect is not ideal. Therefore, in order to better protect the human body and improve their working efficiency and quality of life, it is necessary to study a device which is easy to wear and can assist human lower limbs to walk normally. Motion auxiliary function is one of the important application fields of exoskeleton technology. Exoskeleton has the ability to follow the human body's motion process quickly, and provides auxiliary force to human body without changing the human body's motion state, so it has good environmental adaptability. The advantage of sufficient power, the use of exoskeleton to assist human walking will greatly improve the human body's motor function. Europe, America, Japan and other developed countries have been in the field of exoskeleton robot research has a huge investment, and achieved a series of results. However, the research of external bone technology in China is relatively late, the technology is relatively backward, and mostly concentrated in the field of rehabilitation exoskeleton. Therefore, this project will develop a simple structure and easy control of hip assisted exoskeleton system. This paper analyzes the development of exoskeleton at home and abroad, and discusses the characteristics of exoskeleton. According to the actual needs, this design selects the appropriate number of degrees of freedom of exoskeleton, and designs the semi-passive drive system of exoskeleton according to the biomechanics of human motion. The mechanical structure design of hip assisted exoskeleton is completed, which includes the selection and arrangement of the number of degrees of freedom of exoskeleton and the design of connection part between exoskeleton and human body. The exoskeleton drive mechanism is designed as a half passive drive mechanism based on the analysis of the human motion biomechanics of the hip joint. On the basis of the design of exoskeleton mechanism, the motion process simulation of the external skeleton driving mechanism of ADAMS is carried out to verify the effect of the passive drive system. According to the characteristics of the designed semi-passive drive system, a control method of phased control is designed. The SAC control method is used in the rear support phase, the front swing phase and the transition phase, so that the exoskeleton follows the human body. Rely only on passive driving mechanism to provide auxiliary force. The output torque control method is used in the front support phase and the rear swing phase to make the exoskeleton drive motor output appropriate torque and provide auxiliary torque to the human body. In this design, TMS320F2812 is chosen as the processor of exoskeleton control system. The control system designed by DSP chip has the characteristics of high operation speed, and can fully meet the real-time requirements of the control algorithm of exoskeleton system. Finally, the hardware circuit of exoskeleton control system is designed, including DSP minimum system circuit, bipolar H-bridge drive circuit and current detection circuit. Finally, the experimental platform of exoskeleton prototype is built, and the actual effect of SAC controller and output torque controller is verified by experiment.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：R684;TP273

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