【摘要】：機(jī)械外骨骼是模仿生物界外骨骼研發(fā)的一種新型機(jī)電裝置。設(shè)計(jì)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(jìn)行運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)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(biāo)準(zhǔn)曲線基本一致,驗(yàn)證了數(shù)學(xué)模型的正確性;通過ADAMS動(dòng)態(tài)仿真,模型能正常行走,驗(yàn)證了驅(qū)動(dòng)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(zhǔn)備。研制了相關(guān)樣機(jī),通過穿外骨骼和不穿外骨骼進(jìn)行對(duì)比試驗(yàn),觀察膝關(guān)節(jié)角度的變化情況,驗(yàn)證該機(jī)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(xué)機(jī)械電子工程研究所;
【基金】：工業(yè)控制技術(shù)國家重點(diǎn)實(shí)驗(yàn)室開放課題(ICT1600283) 浙江省大學(xué)生科技創(chuàng)新活動(dòng)計(jì)劃(新苗人才計(jì)劃)(2015R407003)
【分類號(hào)】：TP242
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本文編號(hào)：2184524