基于多模式弹性驱动器的膝关节外骨骼机械腿

发布时间：2018-10-19 20:09

【摘要】：基于人体行走过程中下肢肌肉的运动机理,提出一种多模式弹性驱动器,并应用于膝关节外骨骼中实现膝关节外骨骼机械腿的刚性驱动及柔性驱动.首先,对多模式弹性驱动器及膝关节外骨骼进行机构设计,并分析驱动器运动模式.其后,进行驱动器的动力学建模,并分析弹性参数、阻尼参数及负载对驱动器输出带宽的影响,针对弹性驱动器特征进行了基于运动状态机的控制策略研究.最后,根据控制策略对膝关节外骨骼样机实施运动控制.实验结果表明,膝关节外骨骼能根据运行状态机实现有效控制,从而验证了弹性驱动器设计的合理性.
[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.
【作者单位】： 南京工程学院机械工程学院;南京工程学院自动化学院;
【基金】：国家自然科学基金(51205182,51675259) 南京工程学院创新基金重大项目(CKJA201501,CKJA201605)
【分类号】：TP24
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本文编号：2282227