摘要
通过对人体行走方式和姿态的分析研究,确定了行走助力机器人髋部、膝部、踝部3个关节的尺寸及动力驱动类型,并完成机器人的结构装配;设计驱动液压系统的原理图,对驱动系统中液压缸的动作进行算法优化,并采用拉格朗日算法完成机器人的运动学分析;使用Virtual.Lab Motion与AMESim进行机液联合仿真,将仿真结果与计算所得曲线进行对比,证明了运动学分析的正确性和液压驱动系统的可行性。
The structure size and drive forms of walking assist robot＇s hip joint, knee joints and ankle joints are determined and the assembly of these parts are also completed through the analysis of human gait characteristics. The Lagrangian algorithm was used to complete the robot kinematics analysis, and the action of the hydraulic cylinder was optimized in algorithm to design the schematic diagrams of the drive hydraulic system. At last, using the hydraulic mechanic joint simulation of Virtual. Lab Motion and AMESim, the simulation curve with the actual calculation curve were compared, which confirms the correctness of the kinematic analysis and the feasibility of hydraulic drive system.
出处
《机床与液压》
北大核心
2017年第21期47-51,94,共6页
Machine Tool & Hydraulics
