【摘要】：基于人體行走過(guò)程中下肢肌肉的運(yùn)動(dòng)機(jī)理,提出一種多模式彈性驅(qū)動(dòng)器,并應(yīng)用于膝關(guān)節(jié)外骨骼中實(shí)現(xiàn)膝關(guān)節(jié)外骨骼機(jī)械腿的剛性驅(qū)動(dòng)及柔性驅(qū)動(dòng).首先,對(duì)多模式彈性驅(qū)動(dòng)器及膝關(guān)節(jié)外骨骼進(jìn)行機(jī)構(gòu)設(shè)計(jì),并分析驅(qū)動(dòng)器運(yùn)動(dòng)模式.其后,進(jìn)行驅(qū)動(dòng)器的動(dòng)力學(xué)建模,并分析彈性參數(shù)、阻尼參數(shù)及負(fù)載對(duì)驅(qū)動(dòng)器輸出帶寬的影響,針對(duì)彈性驅(qū)動(dòng)器特征進(jìn)行了基于運(yùn)動(dòng)狀態(tài)機(jī)的控制策略研究.最后,根據(jù)控制策略對(duì)膝關(guān)節(jié)外骨骼樣機(jī)實(shí)施運(yùn)動(dòng)控制.實(shí)驗(yàn)結(jié)果表明,膝關(guān)節(jié)外骨骼能根據(jù)運(yùn)行狀態(tài)機(jī)實(shí)現(xiàn)有效控制,從而驗(yàn)證了彈性驅(qū)動(dòng)器設(shè)計(jì)的合理性.
[Abstract]:Based on the motion mechanism of lower limb muscles during human walking, a multi-mode elastic driver is proposed, which is applied to the rigid and flexible drive of knee joint exoskeleton mechanical leg. Firstly, the mechanism of multi-mode elastic actuator and knee exoskeleton is designed, and the motion mode of actuator is analyzed. Then, the dynamic model of the actuator is established, and the effects of elastic parameters, damping parameters and load on the output bandwidth of the actuator are analyzed, and the control strategy based on the motion state machine is studied according to the characteristics of the elastic actuator. Finally, the motion control of the knee exoskeleton prototype is carried out according to the control strategy. The experimental results show that the exoskeleton of the knee joint can be effectively controlled according to the running state machine, which verifies the rationality of the design of the elastic actuator.
【作者單位】： 南京工程學(xué)院機(jī)械工程學(xué)院;南京工程學(xué)院自動(dòng)化學(xué)院;
【基金】：國(guó)家自然科學(xué)基金(51205182,51675259) 南京工程學(xué)院創(chuàng)新基金重大項(xiàng)目(CKJA201501,CKJA201605)
【分類號(hào)】：TP24
，

本文編號(hào)：2282227