【摘要】：許多人需要在日常工作和生活中進(jìn)行長(zhǎng)時(shí)間或遠(yuǎn)距離的行走運(yùn)動(dòng),如護(hù)士、城市環(huán)衛(wèi)工人、遠(yuǎn)足愛(ài)好者以及士兵等,長(zhǎng)時(shí)間、長(zhǎng)距離的行走經(jīng)常會(huì)導(dǎo)致身體不適以及肌肉疲勞等癥狀,影響他們的工作效率與生活質(zhì)量,長(zhǎng)期性的肌肉疲勞更是引起肌肉組織損傷的最主要原因,而且肌肉組織損傷對(duì)人體運(yùn)動(dòng)機(jī)能的損害是無(wú)法挽回的。目前,我國(guó)對(duì)于治療肌肉組織損傷的臨床研究還比較少,雖然治療肌肉組織損傷的方法頗多,但治療效果均不理想。因此,為了對(duì)人體進(jìn)行更好的保護(hù),提高他們的工作效率及生活質(zhì)量,研究一種便于穿戴、能夠輔助人體下肢進(jìn)行正常行走運(yùn)動(dòng)的裝置十分必要。運(yùn)動(dòng)輔助功能是外骨骼技術(shù)的重要應(yīng)用領(lǐng)域之一,外骨骼具有對(duì)人體運(yùn)動(dòng)過(guò)程快速跟隨的能力,在不改變?nèi)梭w運(yùn)動(dòng)狀態(tài)的情況下給人體提供輔助力,具有環(huán)境適應(yīng)性好、助力充分的優(yōu)點(diǎn),用外骨骼輔助人體行走將會(huì)極大的提升人體的運(yùn)動(dòng)機(jī)能。歐美及日本等發(fā)達(dá)國(guó)家一直在外骨骼機(jī)器人技術(shù)的研究領(lǐng)域有著巨大的投入,并取得了一系列成果。而我國(guó)對(duì)外骨骼技術(shù)的研究起步較晚,技術(shù)相對(duì)落后,且多集中于康復(fù)用外骨骼領(lǐng)域。因此,本課題將開(kāi)發(fā)一套結(jié)構(gòu)簡(jiǎn)單、控制方便的髖關(guān)節(jié)助力外骨骼系統(tǒng)。本文深入分析了外骨骼國(guó)內(nèi)外的發(fā)展現(xiàn)狀,討論了各類(lèi)外骨骼的特點(diǎn)。本設(shè)計(jì)根據(jù)實(shí)際需要選擇了合適的外骨骼自由度個(gè)數(shù),并根據(jù)人體運(yùn)動(dòng)生物力學(xué)設(shè)計(jì)了外骨骼半被動(dòng)式驅(qū)動(dòng)系統(tǒng)。完成了髖關(guān)節(jié)助力外骨骼機(jī)械結(jié)構(gòu)設(shè)計(jì),主要包括外骨骼自由度個(gè)數(shù)的選擇與布置、外骨骼與人體連接部設(shè)計(jì)。依據(jù)對(duì)髖關(guān)節(jié)的人體運(yùn)動(dòng)生物力學(xué)的分析,外骨骼驅(qū)動(dòng)機(jī)構(gòu)被設(shè)計(jì)為一半被動(dòng)式驅(qū)動(dòng)機(jī)構(gòu)。在完成外骨骼機(jī)構(gòu)設(shè)計(jì)的基礎(chǔ)上,通過(guò)ADAMS對(duì)外骨骼的驅(qū)動(dòng)機(jī)構(gòu)進(jìn)行了運(yùn)動(dòng)過(guò)程仿真,驗(yàn)證被動(dòng)式驅(qū)動(dòng)系統(tǒng)的效果。根據(jù)所設(shè)計(jì)的半被動(dòng)式驅(qū)動(dòng)系統(tǒng)的特點(diǎn),設(shè)計(jì)了一種分階段控制的控制方法,在后支撐相、前擺動(dòng)相和過(guò)渡相采用SAC控制法,實(shí)現(xiàn)外骨骼對(duì)人體的跟隨,僅依靠被動(dòng)式驅(qū)動(dòng)機(jī)構(gòu)提供輔助力。在前支撐相和后擺動(dòng)相采用輸出力矩控制法,使外骨骼驅(qū)動(dòng)電機(jī)輸出合適的力矩,對(duì)人體提供輔助力矩。本設(shè)計(jì)選用TMS320F2812作為外骨骼控制系統(tǒng)的處理器,采用DSP芯片設(shè)計(jì)的控制系統(tǒng)具有運(yùn)算速度高的特點(diǎn),能夠充分滿(mǎn)足外骨骼系統(tǒng)控制算法對(duì)實(shí)時(shí)性的要求。最后,設(shè)計(jì)了外骨骼控制系統(tǒng)的硬件電路,包括DSP最小系統(tǒng)電路,雙極性H橋驅(qū)動(dòng)電路與電流檢測(cè)電路。最后,搭建了外骨骼樣機(jī)實(shí)驗(yàn)平臺(tái),通過(guò)實(shí)驗(yàn)驗(yàn)證了SAC控制器和輸出力矩控制器的實(shí)際效果。
[Abstract]:Many people need long or long walks in their daily work and lives, such as nurses, city sanitation workers, hiking enthusiasts, soldiers, etc., for a long time. Long distance walking often leads to physical discomfort and muscle fatigue, which affects their working efficiency and quality of life. Long-term muscle fatigue is the main cause of muscle tissue damage. And muscle tissue damage to the human body motor function damage is irreparable. At present, there are few clinical studies on the treatment of muscle tissue injury in China. Although there are many methods to treat muscle tissue injury, the therapeutic effect is not ideal. Therefore, in order to better protect the human body and improve their working efficiency and quality of life, it is necessary to study a device which is easy to wear and can assist human lower limbs to walk normally. Motion auxiliary function is one of the important application fields of exoskeleton technology. Exoskeleton has the ability to follow the human body's motion process quickly, and provides auxiliary force to human body without changing the human body's motion state, so it has good environmental adaptability. The advantage of sufficient power, the use of exoskeleton to assist human walking will greatly improve the human body's motor function. Europe, America, Japan and other developed countries have been in the field of exoskeleton robot research has a huge investment, and achieved a series of results. However, the research of external bone technology in China is relatively late, the technology is relatively backward, and mostly concentrated in the field of rehabilitation exoskeleton. Therefore, this project will develop a simple structure and easy control of hip assisted exoskeleton system. This paper analyzes the development of exoskeleton at home and abroad, and discusses the characteristics of exoskeleton. According to the actual needs, this design selects the appropriate number of degrees of freedom of exoskeleton, and designs the semi-passive drive system of exoskeleton according to the biomechanics of human motion. The mechanical structure design of hip assisted exoskeleton is completed, which includes the selection and arrangement of the number of degrees of freedom of exoskeleton and the design of connection part between exoskeleton and human body. The exoskeleton drive mechanism is designed as a half passive drive mechanism based on the analysis of the human motion biomechanics of the hip joint. On the basis of the design of exoskeleton mechanism, the motion process simulation of the external skeleton driving mechanism of ADAMS is carried out to verify the effect of the passive drive system. According to the characteristics of the designed semi-passive drive system, a control method of phased control is designed. The SAC control method is used in the rear support phase, the front swing phase and the transition phase, so that the exoskeleton follows the human body. Rely only on passive driving mechanism to provide auxiliary force. The output torque control method is used in the front support phase and the rear swing phase to make the exoskeleton drive motor output appropriate torque and provide auxiliary torque to the human body. In this design, TMS320F2812 is chosen as the processor of exoskeleton control system. The control system designed by DSP chip has the characteristics of high operation speed, and can fully meet the real-time requirements of the control algorithm of exoskeleton system. Finally, the hardware circuit of exoskeleton control system is designed, including DSP minimum system circuit, bipolar H-bridge drive circuit and current detection circuit. Finally, the experimental platform of exoskeleton prototype is built, and the actual effect of SAC controller and output torque controller is verified by experiment.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：R684;TP273

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本文編號(hào)：2204450