智能仿生人工腿CIP-ILeg性能仿真评估研究  

Simulation and Evaluation of Intelligent Bionic Artificial Leg CIP-I Leg

作　　者：闫炳雷[1] 谭冠军[1] 曾庆冬[2] 谭冠政[2] 

机构地区：[1]中南大学机电工程学院,湖南长沙410083 [2]中南大学信息科学与工程学院,湖南长沙410083

出　　处：《计算机仿真》2006年第9期231-235,310,共6页Computer Simulation

基　　金：国家自然科学基金(50275150);高等学校博士学科点专项科研基金(20040533035)

摘　　要：该文对智能仿生人工腿(IBAL)--C IP-I Leg的结构进行了简单介绍,并提出了一全新的IBAL设计、仿真评估体系。依照该体系,建立了新型二级差动气缸的动力学模型,并利用三维造型技术和虚拟样机技术建立了C IP-I Leg与人体大腿残肢的虚拟样机模型。在分析正常人的步态数据基础上,对模型髋关节施加了预定轨迹并对大腿残肢进行运动规划。通过将针阀的最大垂直位移平分10档进行一组设计研究,初步完成了该虚拟样机模型在摆动相的运动学、动力学仿真分析。仿真结果表明,C IP-I Leg在摆动相期间具有良好的运动学及动力学性能;该虚拟样机模型能初步实现C IP-I Leg的仿真性能评估。CIP - I Leg - - the newest achievement of IBAL was introduced, and a novel optimized design ＆ simulating evaluation system of IBAL was also proposed in this paper. According to the system, an innovative two - stage differential pneumatic cylinder used in CIP - I Leg was modeled. Based on three - Dimensional （ 3 - D） modeling and virtual prototype technology, prototypes of CIP - I Leg and human thigh were also constructed and finally assembled to be a multi - body model. Through analyzing collected gait data of healthy human beings, a predetermined trajectory of hip could be gained and the thigh＇s motion was planned, then the maximal vertical displacement of needle valve was divided into equal l0 parts and the Design Study in ADAMS was done, which made it possible to finally achieve model＇s kinematic, dynamic simulation. The results of the simulation show that CIP - I Leg has good kinematic, dynamic properties in swing phase, and the new system is proved to be available to primarily complete evaluation of CIP - I Leg.

关 键 词：智能仿生人工腿 虚拟样机 步态 摆动相 运动学 动力学仿真 

分 类 号：TP391.1[自动化与计算机技术—计算机应用技术]