摘要
下肢外骨骼机器人是一种仿人体下肢运动的机械助力和辅助系统,外骨骼的动力学模型对机械装置和控制算法的设计具有重要的影响。基于一种电机驱动的下肢外骨骼机械结构,在人体矢状面内建立了外骨骼的七杆机构,在求解关节力学性能参数的过程中,采用拉格朗日动力学方法建立了单脚站立、双脚不完全触地站立两种步态下的力学方程,求解得到了各关节的力矩方程,并利用ADAMS动力学平台仿真了外骨骼机器人的行走过程,求解得到了步态周期中髋部和膝部的力矩变化曲线,仿真结果为下肢外骨骼的优化设计及控制策略分析提供了有力支撑。
Lower limb exoskeleton robot is a mechanical assistance system that mimics the human lower extremity movement. The dynamic model of exoskeleton has important impact on the design of the mechanical devices and control algorithm. Based on a motor-driven lower extremity exoskeleton mechanical structure, a seven-bar mechanism of the exoskeleton is established in the sagittal plane of the human body. In the process of solving the mechanical property parameters of joints, Lagrangian dynamics method is used to establish the mechanical equations under the two gaits of standing on one foot and standing on two feet with incomplete contact with the ground, and the torque equations of each joint are solved. The walking process of the exoskeleton robot is simulated by ADAMS dynamics platform, and the torque curves of the hips and knees in the gait cycle are obtained. The simulation results can provide strong support for the optimization design and control strategy analysis of lower limb exoskeleton.
作者
桓茜
王伟
田子谕
刘昕悦
HUAN Xi;WANG Wei;TIAN Zi-yu;LIU Xin-yue(Department of Aeronautical Engineering,Shaanxi Polytechnic Institute,Xianyang 712000,China)
出处
《机械工程与自动化》
2023年第1期59-61,共3页
Mechanical Engineering & Automation
基金
陕西工业职业技术学院科研基金资助项目(2022YKYB-033)。
关键词
下肢外骨骼机器人
动力学模型
仿真
lower limb exoskeleton robot
dynamics model
simulation
