本文選題：氣動肌肉 + 外骨骼��； 參考：《浙江大學》2014年碩士論文

【摘要】：基于氣動肌肉的外骨骼上肢助力系統(tǒng)是一種在軍事行動和災難救援、救護、輔助老年人和肌肉無力患者等需要增強人體機能的場合,提供輔助力的裝置。氣動肌肉作為一種新型氣動執(zhí)行元件,由于氣動肌肉與生物肌肉具有很大的相似度,并且具有很高的功率質量比和功率體積比,提高了外骨骼的柔順性,而且還有響應速度快、成本低廉、安全可靠等優(yōu)點,將其作為外骨骼機器人的驅動器逐漸受到研究者的青睞。但國內外關于氣動肌肉的外骨骼系統(tǒng)研究工作,主要著重于身體局部康復輔助裝置的研究和開發(fā)。本文首次將氣動肌肉用于外骨骼上肢助力系統(tǒng),開展相關的研究。 首先,本文在分析人體上肢運動機理的基礎上,提出適合穿戴的基于氣動肌肉的外骨骼上肢助力系統(tǒng)設計方案。主要包含肩關節(jié)和肘關節(jié)四個自由度的設計。執(zhí)行元件為氣動肌肉,傳動方式采用鋼絲線傳遞。 接著,對該機構進行運動學動力學分析,并用ADAMS進行仿真分析。以此驗證結構設計的正確性。 此外,在外骨骼上肢機構設計的基礎上,設計了滿足關節(jié)位置控制和人機協(xié)調動作控制的控制系統(tǒng)。每根氣動肌肉采用兩個高速開關閥實現進氣和排氣的獨立控制。在此基礎上,建立了基于氣動肌肉的外骨骼上肢助力系統(tǒng)的數學模型,并對系統(tǒng)特性進行了研究。利用Simulink工具軟件對系該統(tǒng)進行抬起重物過程的仿真,驗證了系統(tǒng)模型的正確。 最后,搭建基于氣動肌肉的外骨骼上肢助力實驗平臺,進行系統(tǒng)性能實驗研究。用PID控制策略實現肘關節(jié)和肩關節(jié)的位置控制。并且對肘關節(jié)進行了初步的人機協(xié)同動作實驗研究。實驗結果證明,系統(tǒng)的階躍響應性能較好,并且有一定的適應負載變化的能力,肘關節(jié)能實現人機協(xié)同動作。完成輔助人體抬起重物的過程,提高人體機能。
[Abstract]:Exoskeleton upper limb booster system based on pneumatic muscle is a kind of device which needs to enhance human body function in military operations and disaster rescue, aid to the elderly and patients with muscular weakness, and so on. As a new type of pneumatic actuator, pneumatic muscle has great similarity with biological muscle, and has a high power mass ratio and power volume ratio, which improves the flexibility of exoskeleton, and also has a fast response speed. Because of its advantages of low cost, safety and reliability, the exoskeleton robot is becoming more and more popular as an exoskeleton robot driver. However, the research work on exoskeleton system of pneumatic muscles at home and abroad mainly focuses on the research and development of local rehabilitation aids. In this paper, pneumatic muscle is first applied to the exoskeleton upper limb booster system. Firstly, on the basis of analyzing the movement mechanism of human upper limb, the paper proposes a design scheme of exoskeleton upper limb booster system, which is suitable for wearing and based on pneumatic muscle. It mainly includes the design of four degrees of freedom of shoulder joint and elbow joint. The actuator is pneumatic muscle and the transmission mode is wire transmission. Then, the kinematics and dynamics of the mechanism are analyzed and simulated by ADAMS. The correctness of the structure design is verified by this method. In addition, based on the design of exoskeleton upper limb mechanism, a control system for joint position control and man-machine coordinated action control is designed. Each pneumatic muscle uses two high-speed on-off valves to achieve independent air intake and exhaust control. On this basis, the mathematical model of exoskeleton upper limb booster system based on pneumatic muscle is established, and the characteristics of the system are studied. The Simulink software is used to simulate the lifting process of the system, which verifies the correctness of the system model. Finally, the experimental platform of exoskeleton upper limb booster based on pneumatic muscle was built, and the system performance was studied. The position control of elbow joint and shoulder joint is realized by PID control strategy. At the same time, a preliminary experimental study on the human-machine coordinated action of the elbow joint is carried out. The experimental results show that the step response performance of the system is good, and the system has the ability to adapt to the load change, and the elbow joint can realize the man-machine cooperative action. Complete the process of assisting the body to lift heavy objects and improve the function of human body.
【學位授予單位】：浙江大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TH138

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本文編號：1896308