本文選題：蹲起 + 助力外骨骼��； 參考：《機(jī)器人》2017年04期

【摘要】：針對由于關(guān)節(jié)驅(qū)動(dòng)特性不明而造成助力外骨骼蹲起不順暢的問題,為增強(qiáng)人機(jī)交互性及助力外骨骼蹲起可靠性,對蹲起時(shí)助力外骨骼的關(guān)節(jié)驅(qū)動(dòng)及人機(jī)耦合作用下的關(guān)節(jié)驅(qū)動(dòng)補(bǔ)償進(jìn)行了研究.通過人體數(shù)據(jù)采集實(shí)驗(yàn)及非線性數(shù)據(jù)擬合,得到各關(guān)節(jié)運(yùn)動(dòng)學(xué)方程.建立了蹲起時(shí)的人機(jī)耦合動(dòng)力學(xué)模型,研究了關(guān)節(jié)驅(qū)動(dòng)特征,發(fā)現(xiàn)膝關(guān)節(jié)的驅(qū)動(dòng)特征及其波動(dòng)性遠(yuǎn)大于踝關(guān)節(jié)和髖關(guān)節(jié);膝關(guān)節(jié)驅(qū)動(dòng)力矩與角加速度耦合性強(qiáng);只在蹲起前半段,系統(tǒng)重心遷移對膝關(guān)節(jié)驅(qū)動(dòng)有較大影響.根據(jù)關(guān)節(jié)驅(qū)動(dòng)特征的研究結(jié)果,膝關(guān)節(jié)采用雙作用線性液壓缸進(jìn)行驅(qū)動(dòng),與此同時(shí)人機(jī)耦合作用力可以補(bǔ)償踝關(guān)節(jié)部分驅(qū)動(dòng)力矩及髖關(guān)節(jié)全部驅(qū)動(dòng)力矩.
[Abstract]:In order to enhance the human-computer interaction and the reliability of booster exoskeleton squat, the problem that the driving characteristic of the joint is unclear causes the squatting up of the booster exoskeleton is not smooth. In this paper, the joint drive and joint drive compensation of squatting assisted exoskeleton are studied. Through human data acquisition experiment and nonlinear data fitting, the kinematics equations of each joint are obtained. The man-machine coupling dynamic model of squatting is established and the characteristics of joint drive are studied. It is found that the driving characteristic and its fluctuation of knee joint are much greater than that of ankle and hip joint, and the coupling of driving moment and angular acceleration of knee joint is strong. Only in the first half of squatting, the shift of the system center of gravity has a great influence on the knee joint drive. According to the research results of the joint driving characteristics, the knee joint is driven by a double action linear hydraulic cylinder. At the same time, the man-machine coupling force can compensate the partial driving torque of the ankle joint and all the driving torque of the hip joint.
【作者單位】： 西南交通大學(xué)機(jī)械工程學(xué)院;
【基金】：國家自然科學(xué)基金(51175442) 教育部裝備預(yù)先研究項(xiàng)目(62501040308)
【分類號】：R318.01
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本文編號：2027939