摘要
针对人体下肢外骨骼机器人,将其简化为七杆机构,并将人体行走模式划分为单脚支撑模式和双脚支撑模式,然后运用牛顿-欧拉方法分别对两种行走模式进行动力学建模,研究表明,牛顿-欧拉方法在解决多刚体并联机构的动力学问题中,既可以计算各关节的力矩还可以求解杆件的空间受力,计算简便高效,最后,在ADAMS环境下进行动力学仿真,求解出髋关节和膝关节力矩与运动周期的曲线关系,同时在MATLAB中进行理论计算作为对比,结果表明理论计算和仿真结果曲线存在一定的偏差,但基本一致。
The human lower limb exoskeleton robot is simplified as seven bar mechanism.And the human walking pattern which contains single-leg support pattern and double-leg support pattern are performed by dynamic analysis based on the Newton Euler method respectively.The research shows that the Newton Euler method is an effective method to solve the problem of multi-body dynamics of parallel mechanisms in both torque calculation for each joint and space force of each lever,and the method is simple and efficient.Finally,the dynamic simulation is analyzed in ADAMS,and the curve relation of the hip joint and knee joint are solved.Comparing the theoretical calculation data in MATLAB,the theoretical calculation and the simulation result curve have a certain deviation,but the results are basically consistent.
作者
夏田
桓茜
陈宇
徐建林
XIA Tian;HUAN Xi;CHEN Yu;XU Jian-lin(College of Mechanical&Electrical Engineering,Shaanxi University of Science&Technology,Shaanxi Xi’an 710021,China)
出处
《机械设计与制造》
北大核心
2018年第9期258-261,共4页
Machinery Design & Manufacture
基金
陕西省科技计划项目(2013K07-08)
关键词
外骨骼机器人
动力学分析
行走模式
耦合仿真
力矩
Exoskeleton Robot
Dynamics Analysis
Walking Pattern
Coupling Simulation
Moment
作者简介
夏田,(1962-),女,陕西咸阳人,硕士研究生,教授,主要研究方向:数控装备,机器臂及AVG小车;桓茜,(1991-),女,陕西咸阳人,硕士研究生,主要研究方向:人体外骨骼康复机器人。
