【摘要】：機械外骨骼是模仿生物界外骨骼研發(fā)的一種新型機電裝置。設(shè)計了一款可穿戴式柔性膝關(guān)節(jié)外骨骼,采用人體下肢5桿簡化模型進行運動學和動力學分析。通過Matlab/Simulink仿真分析,所得的膝關(guān)節(jié)角度變化曲線與CGA標準曲線基本一致,驗證了數(shù)學模型的正確性;通過ADAMS動態(tài)仿真,模型能正常行走,驗證了驅(qū)動函數(shù)的正確性,所得的膝關(guān)節(jié)力矩變化曲線,為后面的控制做準備。研制了相關(guān)樣機,通過穿外骨骼和不穿外骨骼進行對比試驗,觀察膝關(guān)節(jié)角度的變化情況,驗證該機構(gòu)的合理性。
[Abstract]:Mechanical exoskeleton is a new kind of electromechanical device which imitates the exoskeleton of biology. A wearable flexible knee exoskeleton was designed. Through Matlab/Simulink simulation analysis, the angle change curve of knee joint is basically consistent with CGA standard curve, which verifies the correctness of mathematical model, and the model can walk normally through ADAMS dynamic simulation, which verifies the correctness of driving function. The obtained curve of knee joint torque changes to prepare for the rear control. The relative prototype was developed, and the rationality of the mechanism was verified by observing the change of knee joint angle by comparing the exoskeleton with that without exoskeleton.
【作者單位】： 杭州電子科技大學機械電子工程研究所;
【基金】：工業(yè)控制技術(shù)國家重點實驗室開放課題(ICT1600283) 浙江省大學生科技創(chuàng)新活動計劃(新苗人才計劃)(2015R407003)
【分類號】：TP242
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本文編號：2184524