發(fā)布時間：2018-05-05 02:20

  本文選題：下肢外骨骼 + ZMP　； 參考：《新疆大學》2017年碩士論文

【摘要】：近年來,隨著經(jīng)濟作物的不斷種植和增長,若能研究出應(yīng)用于農(nóng)業(yè)領(lǐng)域的田間管理與采收的下肢助力外骨骼機器人,則能大大減輕勞動強度,提高勞動效率。下肢外骨骼機器人是一種可穿戴式的人機一體化機器人,被穿戴于人身上后,“如影隨形”的跟蹤人的行走來完成人機協(xié)調(diào),并能提供助力來部分取代身體承載負荷。從而達到了響應(yīng)人機協(xié)作的目的。在軍事、農(nóng)業(yè)、工業(yè)、商業(yè)、康復、護理等領(lǐng)域有很廣闊的發(fā)展前景。由于步行過程不理想或步行不協(xié)調(diào)易發(fā)生外界擾動干擾而發(fā)生失穩(wěn)現(xiàn)象,為此,基于步態(tài)失穩(wěn)現(xiàn)象對其下肢外骨骼系統(tǒng)進行了分析與研究。外骨骼模型的建立與分析;本文設(shè)計了一個具有十二自由度的七連桿下肢外骨骼機構(gòu),具體針對此機構(gòu)的髖關(guān)節(jié)、膝關(guān)節(jié)、踝關(guān)節(jié)及足部等主要部位進行了詳盡的設(shè)計說明。該設(shè)計機構(gòu)可以使人體穿戴后能正常的步態(tài)行走運動,在行走過程中輔助行走并提供助力,進而對該機構(gòu)進行動力學分析。動態(tài)穩(wěn)定性及運動過程中受外界擾動參數(shù)變化時對其動態(tài)穩(wěn)定性的影響分析;首先,基于ZMP理論判據(jù)提出了改進的動態(tài)穩(wěn)定性評估方法,并對下肢外骨骼系統(tǒng)的動態(tài)穩(wěn)定性在矢狀面內(nèi)和冠狀面內(nèi)進行分析。其次,對影響下肢外骨骼系統(tǒng)動態(tài)穩(wěn)定性的擾動參數(shù)進行了研究,并進行了擾動參數(shù)擺動角及載重量的變化情況對下肢外骨骼系統(tǒng)步態(tài)穩(wěn)定性的影響進行了仿真分析。動態(tài)穩(wěn)定性控制策略分析;人機機構(gòu)步態(tài)過程中,當有外界力的干擾時會使人機系統(tǒng)出現(xiàn)失穩(wěn)現(xiàn)象,為恢復穩(wěn)定需要采取相應(yīng)的主動控制策略,以適應(yīng)保持穩(wěn)定狀態(tài)的要求。對下肢外骨骼系統(tǒng)提出了基于ZMP誤差校正的步行控制策略,以保證外骨骼穿戴者與外骨骼的步態(tài)最大程度的協(xié)調(diào)運行。對基于ZMP步態(tài)實時控制其中包括了擴大支撐多邊形,改變穿戴者上身姿態(tài)及液壓驅(qū)動力補償?shù)目刂浦鲃友a償控制,并進行了模擬仿真,實驗驗證了控制策略的可行性。
[Abstract]:In recent years, with the continuous cultivation and growth of cash crops, if we can study the lower limb assisted exoskeleton robot which can be applied in the field of agriculture, it can greatly reduce the labor intensity and improve the labor efficiency. Lower limb exoskeleton robot is a wearable man-machine integrated robot. After being worn on the human body, the robot can follow the human walking to complete the man-machine coordination, and can provide help to partly replace the body load. In order to achieve the purpose of responding to the man-machine cooperation. In the military, agriculture, industry, commerce, rehabilitation, nursing and other fields have a very broad development prospects. Because the walking process is not ideal or the uncoordinated walking is prone to the disturbance of external disturbance, the instability of the lower limb exoskeleton system is analyzed and studied based on the gait instability phenomenon. The exoskeleton model is established and analyzed. A seven-link exoskeleton mechanism with 12 degrees of freedom is designed and explained in detail for the hip joint, knee joint, ankle joint, foot and other main parts of the exoskeleton mechanism. The design mechanism can make the human body walk with normal gait, assist walking and provide power during walking, and then analyze the dynamics of the mechanism. Dynamic stability and dynamic stability are analyzed when the external disturbance parameters change. Firstly, an improved dynamic stability evaluation method based on ZMP theory is proposed. The dynamic stability of exoskeleton system was analyzed in sagittal plane and coronal plane. Secondly, the disturbance parameters which affect the dynamic stability of exoskeleton system of lower extremity are studied, and the effects of swing angle and load of disturbance parameters on the gait stability of exoskeleton system of lower extremity are simulated and analyzed. Dynamic stability control strategy analysis, when the human machine mechanism gait process, when there is external force interference, the man-machine system will appear instability phenomenon, in order to restore stability need to take the corresponding active control strategy to meet the requirements of maintaining stable state. A walking control strategy based on ZMP error correction is proposed for exoskeleton system in order to ensure the maximal coordination between exoskeleton wearer and exoskeleton gait. The real-time control of gait based on ZMP includes extending support polygon changing the upper posture of the wearer and compensating the hydraulic driving force. The simulation results show that the control strategy is feasible.
【學位授予單位】：新疆大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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本文編號：1845747