轻量型柔性下肢助力外骨骼的设计及性能实验  

Design and Performance Experiment of a Lightweight Flexible Lower-Limb Exoskeleton

作　　者：刘王智懿 郑银环[1] 孙健铨[2] 傅睿卿[2] 王大帅 LIUWANG Zhiyi;ZHENG Yinhuan;SUN Jianquan;FU Ruiqing;WANG Dashuai(School of Mechanical and Electrical Engineering,Wuhan University of Technology,Wuhan 430070,China;Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences,Shenzhen 518055,China)

机构地区：[1]武汉理工大学机电工程学院,湖北武汉430070 [2]中国科学院深圳先进技术研究院,广东深圳518055

出　　处：《机器人》2021年第4期433-442,共10页Robot

基　　金：国家重点研发计划(2017YFE1302303);广东省重点领域研发计划(2019B090917002)。

摘　　要：针对传统的外骨骼机器人存在的刚性结构、自重大、柔顺性差、穿戴舒适性差等问题,设计了一种轻量型柔性下肢助力外骨骼.该外骨骼通过鲍登绳装置和弹簧装置实现对踝关节的柔性助力,利用驱动系统的"单轮双槽"绕线盘实现单个电机对双腿的驱动,其稳定性通过有限元分析得以验证.在外骨骼的控制策略上,本文在电机系统的传统三环PID(比例-积分-微分)反馈控制的基础上,提出了基于电机转角和转速的PID控制策略和基于踝关节力矩的PID控制策略,通过Simulink和Simscape工具仿真验证了控制策略的可行性.最后,搭建了一台外骨骼样机并进行了性能实验,样机质量仅为3.095 kg,在本文设置的实验条件下,穿戴该外骨骼行走时人体代谢降低了15%,验证了该外骨骼设计的合理性,也表明该外骨骼相比传统外骨骼具有更好的助力效果.Traditional exoskeleton robots are mostly of rigid structures, and have a lot of limitations such as large self weight, poor flexibility and poor wearing comfort. To solve these problems, a lightweight flexible lower-limb exoskeleton is designed. The flexible assistance to ankle joint is realized by Bowden rope device and spring device. The "single wheel and double slot" winding coil of the drive system can drive the legs by a single motor, and its stability is verified by finite element analysis. For the exoskeleton control strategy, a motor angle and rotation speed based PID(proportional-integral-differential)control and an ankle joint torque based PID control are put forward based on the traditional three-loop PID feedback control of motor system, and their feasibility is simulated and verified through Simulink and Simscape tools. Finally, an exoskeleton prototype of only 3.095 kg is built and the performance experiment is carried out. Under the experimental conditions set in this paper, the metabolism of human body decreases by 15% when wearing the exoskeleton, which demonstrates the rationality of the exoskeleton design, and also shows that the exoskeleton has better assistance effect than the traditional ones.

关 键 词：柔性外骨骼 机器人 有限元分析 PID控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]