摘要
助力型外骨骼是一种人机高度结合的复杂机械结构。为了研究外骨骼在行走模式下负重50 kg时各关节所需驱动力矩以及功率变化规律,本文以西南交通大学第三代助力型外骨骼为研究对象,建立外骨骼模型,运用拉格朗日方程对外骨骼进行动力学分析。为实现外骨骼与人体的携行运动,通过姿态传感器对人体行走过程中关节角的变化规律进行了测量与分析,并将其作为驱动函数对ADAMS环境中的外骨骼虚拟样机进行动力学仿真,得出各关节驱动力矩变化曲线,并拟合出各关节功率曲线。所得结果增加了人机携行性以及结果的可靠性,为助力型外骨骼的驱动控制提供了参考依据。
The power-assisted exoskeleton is a complex mechanical structure with a high degree of integration between man and machine.In order to study the driving torque and power change rules of each joint when the exoskeleton is walking with a weight of 50 kg,this paper takes the third-generation assisted exoskeleton of Southwest Jiaotong University as the research object and establishes an exoskeleton dynamics model.Then,the Lagrangian equation was used to analyze the dynamics of the exoskeleton.In order to realize the carrying movement of the of the exoskeleton and the human body,we used the attitude sensor to measure and analyze the change of the joint angle during the human walking process,and use it as a driving function to simulate the dynamics of the exoskeleton virtual prototype in the ADAMS environment.Finally,we fit the obtained driving torque curve of each joint,and the analysis result can provide a reliable reference for the drive control of the assisted exoskeleton.
作者
陈琦
刘放
王智政
CHEN Qi;LIU Fang;WANG Zhizheng(Graduate School of Tangshan,Southwest Jiaotong University,Tangshan 063000,Hebei,China;School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610031,China)
出处
《机械科学与技术》
CSCD
北大核心
2023年第11期1778-1783,共6页
Mechanical Science and Technology for Aerospace Engineering
关键词
下肢外骨骼
动力学仿真
人机携行
驱动功率
lower extremity exoskeleton
dynamics simulation
human-machine carrying
drive power
