摘要
针对流水线工人工作时需要长时间处于重复单一地站起、蹲下作业的姿态,关节、脊椎受损严重的问题,设计了一款结构轻巧、穿戴方便、安全舒适的下肢外骨骼起蹲系统。为了实现下肢外骨骼人机跟随系统的有效控制,简化模型后采用拉格朗日方法建立系统数学模型并进行动力学分析,最后运用迭代学习控制算法对外骨骼的控制策略进行了研究,并进行仿真实验。结果表明,外骨骼系统与人体运动之间的跟随误差可以得到有效控制,验证了此方法的可行性,同时也为进一步研究外骨骼系统提供了良好的理论依据和方法参考。
In view of the problem that the assembly line workers need to squat-stand for a long time,and the joints and spine are seriously damaged,a lower limb exoskeleton equipment with light structure,convenient wear,safety and comfort is designed.In order to realize the effective control of the exoskeleton following system,the Lagrange method is used to establish the system mathematical model and the dynamics system is analyzed.Finally,the iterative learning control algorithm is used to control the exoskeleton and the simulation experiment is carried out.The results show that the following error between the exoskeleton system and human motion can be effectively controlled,which verifies the feasibility of this method and provides a good theoretical reference for further study of the exoskeleton system.
作者
刘金宏
杨丽红
Liu Jinhong;Yang Lihong(College of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《农业装备与车辆工程》
2020年第2期109-114,共6页
Agricultural Equipment & Vehicle Engineering
关键词
外骨骼
起蹲运动
动力学
迭代学习
exoskeleton
squatting-standing
dynamics
iterative learning
