下肢负重外骨骼机器人的初步设计  

Preliminary Design of Lower Limb Weight-bearing Exoskeleton Robot

作　　者：谭先锋[1,2] 王祖麟[1] 孙健铨[2] 张洪海[2] 正端[2] 

机构地区：[1]江西理工大学电气工程与自动化学院,江西赣州341000 [2]中国科学院深圳先进技术研究院广东省机器人与智能系统重点实验室,广东深圳518055

出　　处：《计算机测量与控制》2015年第4期1397-1400,共4页Computer Measurement &Control

基　　金：广东省引进创新科研团队计划(201001D0104648280);深圳市科技计划项目(ZDSY20120617113312191)

摘　　要：研究设计了一种能够增强人体负重的下肢外骨骼机器人,该负重外骨骼机器人具有8个自由度,可实现髋关节的外展与内收、屈/伸运动;膝关节的屈/伸运动以及踝关节的弯曲运动;根据人体步态分析研究出各个关节的运动角度范围,结合目标负重进行结构优化设计;对机器人的结构进行简化,建立了外骨骼机器人的连杆模型,根据其几何关系,采用D-H准则对外骨骼机器人进行了数学建模;以计算机、六轴运动控制卡和STM32为核心构建了控制系统,结合ZMP(zero moment point)零力矩点稳定性判据及三次样条插值进行了步态规划,并将此步态规划应用于样机上;样机实验结果表明,此结构能够满足不同体型的人进行穿戴,并能够根据规划的步态轻松行走,验证了其结构和控制系统的合理性。A design of Lower Limb Exoskeleton Robot which can strength body＇ s weight is described. This weight--bearing exoskeleton robot has 8 degrees of freedom which can complete not only the abduction, adduction, flexion and extension of the hip joint, but also the flexion and extension of the knee joint and also the flexion movement of the ankle joint. An optimal structure design is proposed based on the target weight and studies of moving angle range of each joint from the analysis of the human gait. By simplifying the robot＇ s structure, the linkage model of the exoskeleton robot is built. Through computing the geometrical relationship in the linkage model, the kinematic model of the exoskeleton robot is proposed using D-- H method. The control system is composed of computer, six axis controller cards and STM32 microeontroller. By combining with the Zero Moment Point （ZMP） stability criterion and cubic spline interpolation, the robot＇s gait is analyzed. Then the analysis is applied to our prototype. Experimental results on the prototype indicate that the structure of our design can satisfy equipment of person with different size, and people can walk effortlessly according to the programming gait. Based on the results, rationality of structure and control system of the design is verified.

关 键 词：负重 下肢外骨骼机器人 ZMP 三次样条插值 步态分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]