摘要
下肢外骨骼康复机器人的组成连杆在辅助人类运动的时候会因为自身柔性发生弹性变形,会影响到整个行走轨迹的位置精度和控制的实时性与准确性。针对所设计的下肢外骨骼康复机器人,首先通过步态仿真验证模型的正确性,然后建立其刚柔耦合动力学模型。在刚柔耦合动力学模型的基础上,通过ADAMS和ANSYS完成摆动期阶段内的刚柔耦合动力学联合仿真,得到其动态变形误差数据。结果表明:在Y方向、Z方向位移误差和整体位移误差分别在-38~3.6 mm、-7.5~3 mm、-6~14.5 mm内波动,与其他两方面相比,Y方向上的位移误差最大,在误差允许的范围内。验证了下肢外骨骼康复机器人刚柔耦合模型的正确性与合理性,为后续的结构优化和控制系统的设计提供了参考依据。
The connecting rod of the lower limb exoskeleton rehabilitation robot will be elastically deformed due to its own flexibility when assisting human movement, which will affect the position accuracy of its entire walking trajectory and the real-time and accuracy of control.For the designed lower extremity exoskeleton rehabilitation robot, the correctness of the model was first verified by gait simulation, then its rigid-flexible coupling dynamics model was established.Based on the rigid-flexible coupling dynamics model, the joint simulation of rigid-flexible coupling dynamics in the swing phase was completed by ADAMS and ANSYS,and its dynamic deformation error data were obtained.The results show that the displacement errors in the Y direction, the Z direction and the overall displacement error fluctuate in the range of-38~3.6 mm,-7.5~3 mm and-6~14.5 mm respectively.Compared with the other two aspects, the displacement error in the Y direction is the largest, within the allowable range.The correctness and rationality of the rigid-flexible coupling model of the lower limb exoskeleton rehabilitation robot is verified, it provides reference for the subsequent structural optimization and control system design.
作者
李金良
张斌
舒翰儒
薛明远
刘阿健
LI Jinliang;ZHANG Bin;SHU Hanru;XUE Mingyuan;LIU Ajian(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao Shandong 266590,China)
出处
《机床与液压》
北大核心
2022年第7期118-122,共5页
Machine Tool & Hydraulics
基金
国家重点研发计划(2018YFC0604702)
山东省中青年科学家科研奖励基金资助项目(ZR2018BEE014)。
关键词
下肢外骨骼康复机器人
摆动期
刚柔耦合
联合仿真
Lower limb exoskeleton rehabilitation robot
Swing phase
Rigid-flexible coupling
Co-simulation
作者简介
李金良(1975-),男,博士,副教授,研究方向为机器人学与机器人技术。E-mail:sdustljl@163.com。;通信作者:张斌(1997-),男,硕士,研究方向为机器人学与机器人技术。E-mail:1696378233@qq.com。
