矿用外骨骼机器人的稳定性研究  

Research on the Stability of Mine Exoskeleton Robot

作　　者：刘耀忠 梁义维 赵利平 刘泽鹏 LIU Yao-zhong;LIANG Yi-wei;ZHAO Li-ping;LIU Ze-peng(School of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Shanxi Taiyuan 030024,China)

机构地区：[1]太原理工大学机械与运载工程学院,山西太原030024

出　　处：《机械设计与制造》2023年第6期296-299,304,共5页Machinery Design & Manufacture

基　　金：山西省重点研发计划(201803D121013)。

摘　　要：稳定行走是外骨骼机器人研究的一个关键问题,也是实现其他功能的根本前提。基于人体步态研究和双足机器人ZMP(零力矩点)理论,推导出ZMP的计算公式;通过Adams软件仿真和外骨骼穿戴实验得出平地行走、越障两个特征动作下的人体和外骨骼人-机系统的ZMP轨迹;分别对比同一动作下的人体和外骨骼人-机系统的稳定裕度研究外骨骼人-机系统的稳定性。仿真和实验结果表明:外骨骼人-机系统稳定裕度较人体差,但完全可以满足平地行走、越障两个动作的稳定性要求。Stable walking is a key issue in the research of exoskeleton robots,and it is also the fundamental premise for the realization of other functions.Based on human gait research and robot ZMP(zero moment point)theory,the calculation formula of ZMP is derived.Through the Adams software simulation and exoskeleton wearing experiment,the ZMP trajectory of the human body and exoskeleton man-machine system with the two characteristic actions of walking on the ground and crossing obstacles are obtained;The stability of the exoskeleton human-machine system is studied by comparing the stability margins of the human body and exoskeleton human-machine system of the same action.The simulation and experimental results show that the stability margin of exoskeleton man-machine system is worse than that of human body,but it can fully meet the stability requirements of the two actions of walking on the ground and crossing obstacles.

关 键 词：矿用外骨骼机器人 ZMP 稳定性 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]