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  本文選題：氣動肌肉　切入點(diǎn)：腳踝康復(fù)　出處：《武漢理工大學(xué)》2015年碩士論文

【摘要】：氣動肌肉是一種新型的柔性氣體驅(qū)動器,它具有重量輕、輸出功率/自重比大、安全性好、價格低、清潔等優(yōu)點(diǎn),并且其驅(qū)動力與長度的輸出特性關(guān)系和人類肌肉比較類似,具有很好的順從性。由于上述的優(yōu)點(diǎn),將氣動肌肉應(yīng)用于醫(yī)療康復(fù)、仿生機(jī)器人等領(lǐng)域具有很好的發(fā)展前景。采用氣動肌肉作為驅(qū)動器的腳踝康復(fù)機(jī)器人,不僅能夠幫助腳踝損傷患者進(jìn)行精確的、有效的康復(fù)訓(xùn)練,而且能夠確保患者進(jìn)行康復(fù)運(yùn)動時的安全性,具有很好的實(shí)際應(yīng)用價值。本文研究的氣動肌肉驅(qū)動腳踝康復(fù)機(jī)器人是一個非線性強(qiáng)、部分參數(shù)時變的復(fù)雜系統(tǒng),具有兩個自由度,存在一個冗余驅(qū)動。基于該機(jī)器人實(shí)驗(yàn)平臺,研究了機(jī)器人的位置控制以及力控制方法,實(shí)現(xiàn)了患者腳踝康復(fù)訓(xùn)練的不同運(yùn)動模式。本文的主要研究工作如下:(1)根據(jù)氣動肌肉的工作原理與特性,研究了氣動肌肉的模型。在分析氣動肌肉理想數(shù)學(xué)模型的基礎(chǔ)上,利用遲滯模型建立了氣動肌肉的實(shí)驗(yàn)數(shù)學(xué)模型,為機(jī)器人的實(shí)際控制做鋪墊;介紹了腳踝康復(fù)機(jī)器人的實(shí)驗(yàn)平臺,分析了平臺的基本硬件組成與工作原理,開發(fā)了機(jī)器人的上位機(jī)軟件控制系統(tǒng);分析了機(jī)器人運(yùn)動學(xué)的相關(guān)知識。(2)結(jié)合機(jī)器人的運(yùn)動學(xué)知識,提出了腳踝康復(fù)機(jī)器人的位置控制方法,機(jī)器人按照預(yù)設(shè)的腳踝康復(fù)運(yùn)動軌跡進(jìn)行運(yùn)動。位置控制采用模糊控制策略,加入了自調(diào)節(jié)機(jī)制,增強(qiáng)了控制器的適應(yīng)性;同時,將建立的氣動肌肉實(shí)驗(yàn)數(shù)學(xué)模型作為補(bǔ)償加入該控制器,克服了機(jī)器人驅(qū)動器位置控制中存在的滯后性,提高了控制的精確度。(3)從踝關(guān)節(jié)康復(fù)運(yùn)動的需求出發(fā),提出了腳踝康復(fù)機(jī)器人的力控制方法。由于機(jī)器人存在冗余驅(qū)動,對機(jī)器人的各驅(qū)動支路進(jìn)行了驅(qū)動力優(yōu)化求解,優(yōu)化了氣動肌肉驅(qū)動力的分配;力控制采用基于位置內(nèi)環(huán)的阻抗控制方法,通過對三根氣動肌肉驅(qū)動器進(jìn)行力跟蹤控制,保證機(jī)器人平臺輸出的康復(fù)力矩要求。氣動肌肉驅(qū)動腳踝康復(fù)機(jī)器人的位置與力控制方法在實(shí)驗(yàn)平臺上取得了良好的控制效果,對機(jī)器人在實(shí)際的腳踝康復(fù)應(yīng)用中提供了很好的技術(shù)支持。
[Abstract]:Pneumatic muscle is a new type of flexible gas driver. It has the advantages of light weight, high output power / weight ratio, good safety, low price, clean and so on. The relationship between driving force and length output characteristic is similar to that of human muscle. Because of the above advantages, the application of pneumatic muscle in medical rehabilitation, biomimetic robot and other fields has a good development prospects. Using pneumatic muscle as the driver of ankle rehabilitation robot, It not only helps patients with ankle injuries carry out accurate and effective rehabilitation training, but also ensures the safety of patients during rehabilitation exercise. The pneumatic muscle driven ankle rehabilitation robot studied in this paper is a nonlinear, partially time-varying complex system with two degrees of freedom. Based on the experimental platform of the robot, the position control and force control methods of the robot are studied. The main research work of this paper is as follows: (1) according to the working principle and characteristics of pneumatic muscle, the model of pneumatic muscle is studied. On the basis of analyzing the ideal mathematical model of pneumatic muscle, An experimental mathematical model of pneumatic muscle is established by using hysteresis model, which lays the groundwork for the actual control of robot, introduces the experimental platform of ankle rehabilitation robot, and analyzes the basic hardware composition and working principle of the platform. The software control system of the robot is developed, and the position control method of the ankle rehabilitation robot is put forward by analyzing the related knowledge of the robot kinematics and the kinematics knowledge of the robot. The robot moves according to the pre-designed ankle rehabilitation track. The position control adopts fuzzy control strategy, which adds the self-regulation mechanism to enhance the adaptability of the controller, at the same time, The mathematical model of pneumatic muscle experiment is added to the controller as compensation, which overcomes the lag in position control of robot driver, and improves the precision of control. The force control method of ankle rehabilitation robot is put forward. Because the robot has redundant drive, the driving force of each driving branch of the robot is solved optimally, and the distribution of pneumatic muscle driving force is optimized. The force control adopts the impedance control method based on the position inner loop, and carries on the force tracking control to three pneumatic muscle actuators. The position and force control method of pneumatic muscle driving ankle rehabilitation robot has achieved good control effect on the experimental platform. It provides good technical support for the robot in the actual ankle rehabilitation application.
【學(xué)位授予單位】：武漢理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TP242;R496

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本文編號：1690026