本文選題：氣動(dòng)肌肉 + 外骨骼��； 參考：《浙江大學(xué)》2014年碩士論文

【摘要】：基于氣動(dòng)肌肉的外骨骼上肢助力系統(tǒng)是一種在軍事行動(dòng)和災(zāi)難救援、救護(hù)、輔助老年人和肌肉無力患者等需要增強(qiáng)人體機(jī)能的場(chǎng)合,提供輔助力的裝置。氣動(dòng)肌肉作為一種新型氣動(dòng)執(zhí)行元件,由于氣動(dòng)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(zhì)量比和功率體積比,提高了外骨骼的柔順性,而且還有響應(yīng)速度快、成本低廉、安全可靠等優(yōu)點(diǎn),將其作為外骨骼機(jī)器人的驅(qū)動(dòng)器逐漸受到研究者的青睞。但國(guó)內(nèi)外關(guān)于氣動(dòng)肌肉的外骨骼系統(tǒng)研究工作,主要著重于身體局部康復(fù)輔助裝置的研究和開發(fā)。本文首次將氣動(dòng)肌肉用于外骨骼上肢助力系統(tǒng),開展相關(guān)的研究。 首先,本文在分析人體上肢運(yùn)動(dòng)機(jī)理的基礎(chǔ)上,提出適合穿戴的基于氣動(dòng)肌肉的外骨骼上肢助力系統(tǒng)設(shè)計(jì)方案。主要包含肩關(guān)節(jié)和肘關(guān)節(jié)四個(gè)自由度的設(shè)計(jì)。執(zhí)行元件為氣動(dòng)肌肉,傳動(dòng)方式采用鋼絲線傳遞。 接著,對(duì)該機(jī)構(gòu)進(jìn)行運(yùn)動(dòng)學(xué)動(dòng)力學(xué)分析,并用ADAMS進(jìn)行仿真分析。以此驗(yàn)證結(jié)構(gòu)設(shè)計(jì)的正確性。 此外,在外骨骼上肢機(jī)構(gòu)設(shè)計(jì)的基礎(chǔ)上,設(shè)計(jì)了滿足關(guān)節(jié)位置控制和人機(jī)協(xié)調(diào)動(dòng)作控制的控制系統(tǒng)。每根氣動(dòng)肌肉采用兩個(gè)高速開關(guān)閥實(shí)現(xiàn)進(jìn)氣和排氣的獨(dú)立控制。在此基礎(chǔ)上,建立了基于氣動(dòng)肌肉的外骨骼上肢助力系統(tǒng)的數(shù)學(xué)模型,并對(duì)系統(tǒng)特性進(jìn)行了研究。利用Simulink工具軟件對(duì)系該統(tǒng)進(jìn)行抬起重物過程的仿真,驗(yàn)證了系統(tǒng)模型的正確。 最后,搭建基于氣動(dòng)肌肉的外骨骼上肢助力實(shí)驗(yàn)平臺(tái),進(jìn)行系統(tǒng)性能實(shí)驗(yàn)研究。用PID控制策略實(shí)現(xiàn)肘關(guān)節(jié)和肩關(guān)節(jié)的位置控制。并且對(duì)肘關(guān)節(jié)進(jìn)行了初步的人機(jī)協(xié)同動(dòng)作實(shí)驗(yàn)研究。實(shí)驗(yàn)結(jié)果證明,系統(tǒng)的階躍響應(yīng)性能較好,并且有一定的適應(yīng)負(fù)載變化的能力,肘關(guān)節(jié)能實(shí)現(xiàn)人機(jī)協(xié)同動(dòng)作。完成輔助人體抬起重物的過程,提高人體機(jī)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(xué)位授予單位】：浙江大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TH138

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