Stability Study on Swing Phase balance of Exoskeleton Man-machine System
-
摘要: 为了实现外骨骼机器人人-机系统在行走过程中能够更好地维持平衡稳定,通过建立连杆模型,对外骨骼人-机系统行走动态过程中的重心位置、动能、势能和关节力矩的变化规律进行分析,提出了一种外骨骼人-机系统摆动态平衡稳定性判据,即单腿支撑摆动态采用能量分析原理平衡稳定性判据。利用Adams软件对不同负重下的外骨骼人-机系统模型进行动态仿真分析,其结果验证了该稳定性判据的准确性。外骨骼机人-机系统平衡稳定性研究还为进一步对人-机同步行走及其他步态平衡控制性研究提供参考依据。Abstract: In order to achieve the better stability balance of exoskeleton robot man-machine system in the walking process, a method is presented that the single leg support in swing phase adopting the energy analysis theory, establishing the connecting rod model and analyzing the center of gravity position, kinetic energy, potential energy and the changing rule of the joint torque of the exoskeleton man-machine system. Using the Adams software simulation to analyze the exoskeleton man-machine system under different load models, the results of the simulation suggest that the stability method is accurate. The stability study on the exoskeleton man-machine system can also provide the reference for the exoskeleton man-machine synchronization and other walking gaits stability balance control.
-
Key words:
- exoskeleton /
- stability /
- energy /
- simulation
-
[1] McGhee R B,Frank A A.On the stability properties of quadruped creeping gaits[J].Mathematical Biosciences,1968,3:331-351 [2] McGhee R B,Iswandhi G I.Adaptive locomotion of a multilegged robot over rough terrain[J].IEEE Transactions on Systems,Man,and Cybernetics,1979,9(4):176-182 [3] Song S M,Waldron K J.Machines that walk:the adaptive suspension vehicle[M].Cambridge,MA:MIT Press,1989 [4] Messuri D A.Optimization of the locomotion of a legged vehicle with respect to maneuverability[D].Ohio:The Ohio State University,1985:11-17 [5] Nagy P V.An investigation of walker/terrain interaction[D].Pittsburgh,PA,US:Carnegie Mellon University,1991:13-15 [6] Vukobratovic M,Frank A A,Juricic D.On the stability of biped locomotion[J].IEEE Transactions on Biomedical Engineering,1970,17(1):25-36 [7] 刘宇红,张明路,孟宪春,等.基于ZMP的移动机械手运动稳定性分析方法研究与仿真[J].河北工业大学学报,2009,38(2):26-31 Liu Y H,Zhang M L,Meng X C,et al.Researching and simulation of mobile manipulator stability and compensation measurement based on ZMP[J].Journal of Hebei University of Technology,2009,38(2):26-31(in Chinese) [8] Kang D O,Lee Y J,Lee S H,et al.A study on an adaptive gait for a quadruped walking robot under external forces[C]//Proceedings of the 1997 IEEE International Conference on Robotics and Automation,Albuquerque,NM:IEEE,1997,4:2777-2782 [9] 陈晓,霍宇嘉,周宏,等.单兵外骨骼智能助跃系统的原理机构设计与仿真[J].机械科学与技术,2011,30(6):968-972,977 Chen X,Huo Y J,Zhou H,et al.Principium mechanism and simulation design of a soldier exoskeleton jumping intelligence system[J].Mechanical Science and Technology for Aerospace Engineering,2011,30(6):968-972,977(in Chinese) [10] 张佳帆,陈鹰,杨灿军.柔性外骨骼人机智能系统[M].北京:科学出版社,2011:50-52 Zhang J F,Chen Y,Yang C J.Flexible exoskeletons human-machine intelligent systems[M].Beijing:Science Press,2011:50-52(in Chinese) [11] 张学胜,赖庆仁,陈亚宁,于等.负重外骨骼机器人的设计及其运动学动力学仿真[J].机械科学与技术,2013,32(4):568-572 Zhang X S,Lai Q R,Chen Y N,et al.The kinematics and dynamics simulation of the exoskeleton robot for bearing[J].Mechanical Science and Technology for Aerospace Engineering,2013,32(4):568-572(in Chinese) [12] 吴宝元,余永,许德章,等.可穿戴式下肢助力机器人运动学分析与仿真[J].机械科学与技术,2007,26(2):235-240 Wu B Y,Yu Y,Xu D Z,et al.Kinematics analysis and simulation of a robot with wearable and power-assisted lower extremities[J].Mechanical Science and Technology,2007,26(2):235-240(in Chinese) [13] 金德闻,张济川.康复工程与生物机械学[M].北京:清华大学出版社,2011:104-120 Jin D W,Zhang J C.Bio-mechanology in rehabilitation engineering[M].Beijing:Tsinghua University Press,2011:104-120(in Chinese) [14] 梁浩,余跃庆,张成新.基于ADAMS及ANSYS的柔性机器人动力学仿真系统[J].机械科学与技术,2002,21(6):892-895 Liang H,Yu Y Q,Zhang C X.A dynamic simulation system for flexible robot manipulators based on ADAMS&ANSYS[J].Mechanical Science and Technology,2002,21(6):892-895(in Chinese) [15] 何富君,张灵聪,李秀伟,等.基于ADAMS的PGZX-1型炉管爬行机器人建模与仿真[J].机械科学与技术,2013,32(8):1182-1185 He F J,Zhang L C,Li X W,et al.Modeling and simulating PGZX-1 pipe climbing robot with ADAMS[J].Mechanical Science and Technology for Aerospace Engineering,2013,32(8):1182-1185(in Chinese)
点击查看大图
计量
- 文章访问数: 181
- HTML全文浏览量: 41
- PDF下载量: 7
- 被引次数: 0