电-液混合驱动的步态模拟系统中非固定Stewart平台的逆动力学分析  

Inverse Dynamic Analysis of a Movable Stewart Platform of a Electro-hydraulic Hybrid-driven Gait Simulator

作　　者：郭秦阳[1] 施光林[1] 王冬梅[1] GUO Qinyang;SHI Guanglin;WANG Dongmei(School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240,China)

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《机床与液压》2019年第9期1-7,共7页Machine Tool & Hydraulics

基　　金：国家自然科学基金面上项目(51375304)

摘　　要：针对足踝复合体在步态过程中生物力学特性的研究需求,设计一种基于非固定Stewart平台的电-液混合驱动的六自由度步态模拟系统。利用液压系统驱动Stewart平台的基座,拓展了平台在矢状面内沿步态前-后向的工作空间。对传统的基于牛顿-欧拉法(N-E法)的并联机构逆动力学建模方法进行优化,充分考虑了基座运动所引起的惯性力,完成了非固定Stewart平台的动力学建模。对典型步态模拟过程中非固定Stewart平台在足踝生物力学作用下的动力学特性进行了对比仿真,验证了所提出的建模方法的有效性。A novel movable Stewart platform based gait simulator was developed for biomechanics studies of human foot. Hydraulic system was employed to drive the movable base of the Stewart platform to increase the controllable task-space of the manipulator in fore-after direction in sagittal plane. The inverse dynamic model of the movable Stewart platform was proposed by using an optimized Newton-Euler method, and the inertial force caused by the motion of the moving-base was considered. Comparative simulations with typical gait were provided and the dynamic characteristic of the movable Stewart platform was obtained. Therefore, the effectiveness of the proposed inverse dynamic analysis method is verified.

关 键 词：步态模拟 非固定Stewart平台 运动学与动力学 牛顿-欧拉方法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]