摘要
为研究人机携行外骨骼系统行走过程中各关节的力矩,以人机携行外骨骼系统为研究对象,对负重行走过程进行动力学分析,用光学捕捉系统采集人机携行外骨骼系统负重30 kg,不同行走速度下的试验数据。以SINESQR函数为基函数,通过MATLAB平台对试验数据进行拟合,得到各特征角的运动方程。利用达朗贝尔原理建立各关节的力矩方程,通过MATLAB平台进行分析计算,得到在负重30 kg,行走速度为3、4.8、6 km/h下各关节力矩随时间的变化。研究结果为后续人机携行外骨骼系统质心平衡研究提供了理论基础。
In order to study the torques of each joint in the walking process of the man-machine carrying exoskeleton system,the man-machine carrying exoskeleton system was taken as the research object.The dynamic analysis of the process of walking with heavy load was carried out.The experimental data of the man-machine carrying exoskeleton system under loading conditions of 30 kg and different walking speeds were collected by the optical motion capture system.The experimental data were fitted based on the SINESQR function through the MATLAB platform.The motion equations of each characteristic angle were obtained.Based on D'Alembert's principle,the moment equations of each joint were established.The change of joint torque with time is obtained under the load of 30 kg and the walking speed of 3,4.8,6 km/h through the analysis and calculation on MATLAB platform.The results provide a theoretical basis for future research on centroid balance of human-computer exoskeleton system.
作者
吴涛
刘放
庞振华
唐语
WU Tao;LIU Fang;PANG Zhen-hua;TANG Yu(School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China)
出处
《科学技术与工程》
北大核心
2021年第16期6690-6694,共5页
Science Technology and Engineering
基金
四川省科技计划(2016HH0032)。
关键词
人机携行外骨骼
行走过程
动力学模型
关节力矩
man-machine carrying exoskeleton
walking process
dynamic model
joint torque
