腰部外骨骼机器人多刚-柔体动力学等效逆解方法研究及其性能优化综合  

Method of Equivalent Inverse Solution of Multi-rigid-flexible Body Dynamics and Performance Optimization Synthesis of Waist Exoskeleton Robot

作　　者：周祖意 杨玉维[1,2] 齐文耀 龚健超 李照童 ZHOU Zuyi;YANG Yuwei;QI Wenyao;GONG Jianchao;LI Zhaotong(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education(Tianjin University of Technology),Tianjin 300384)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]机电工程国家级实验教学示范中心(天津理工大学),天津300384

出　　处：《机械工程学报》2024年第5期107-118,共12页Journal of Mechanical Engineering

基　　金：国家重点研发计划“智能机器人”重点专项(2017YFB1303502);国家自然科学基金(52375026);膝关节外骨骼机器人关键技术研发(10101/70305901)资助项目。

摘　　要：针对减轻腰部运动负载对其疾病防治的重要性,提出一种具有人体生物力学特性的多自由度仿生腰部无动力外骨骼机器人研究原型,继而针对其计及人机共融性的运动承载仿生工作机理的有效实现,深入开展基于多刚-柔体动力学逆解的系统仿生综合性能优化及其方法研究。首先,基于相关离体生物力学实验数据,构建人体腰椎仿生等效复合刚度力学模型,进而于人体矢状面内搭建人机穿戴并联系统多刚-柔体正动力学模型;其次,旨在腰部外骨骼机器人性能优化综合的有效实现,提出一种新型动力学综合性能评价指标——仿生承载舒适度;再次,相对于柔性逆动力学频域法求解的非因果复杂性,提出一种通过正动力学线性优化迭代逼近多刚-柔体动力学逆解的等效方法,以实现外骨骼机器人穿戴前后人体胸椎运动轨迹的一致性;最后,深入开展人机穿戴并联多刚-柔体系统仿生综合性能优化研究,进而得到外骨骼机器人最优设计参数组。仿真结果表明:外骨骼机器人穿戴前后,在保障人体胸椎在矢状面内弯曲角度轨迹误差极小(4.5×10^(-6)(^(o)))工况下,人体等效受力较穿戴前得到明显改善;优化后的外骨骼机器人穿戴舒适性指标明显提升,从而证明了腰部外骨骼机器人具有较好的动力学仿生综合性能,以及所采用研究方法的合理有效性。同时,优化后的系统设计参数对后续腰部外骨骼机器人物理样机的建造及相关实验的开展具有重要意义。Given the importance of reducing the waist load for its disease prevention,a research prototype of a multi degree of freedom bionic waist unpowered exoskeleton robot with human biomechanical characteristics is established.Then,aiming at the effective realization of the bionic working mechanism of motion bearing capacity considering human-machine fusion,the research of system bionic comprehensive performance optimization and its method based on the inverse solution of multi rigid flexible body dynamics are deeply carried out.First,based on relevant data of in vitro biomechanical experimental,an equivalent multi-body mechanical model is constructed,and then a multi-rigid-flexible body forward dynamic model of human-machine wearable parallel system is established on the sagittal plane.Secondly,aiming at the effective realization of comprehensive research of performance optimization of waist exoskeleton robots,a new dynamic comprehensive performance evaluation index named bionic load-bearing comfort level is proposed.Once again,to solve the non-causal complexity of the frequency domain method for solving the flexible inverse dynamics,an equivalent method of iteratively approximating the inverse solution of multi-rigid-flexible body dynamics by positive dynamics linear optimization is proposed to achieve the consistency of the thoracic spine trajectory before and after the exoskeleton robot is worn.Finally,the bionic comprehensive performance optimization of the multi-rigid-flexible body system of the human-machine wearable parallel system is carried out in depth,and then the optimal design parameter set of exoskeleton robot is obtained.The simulation results show that before and after the exoskeleton robot is worn,under the condition that the trajectory error of the bending angle of the human thoracic vertebra in the sagittal plane is minimal(4.5×10^(-6)(^(o))),the equivalent force of the human body is significantly improved compared with those before wearing.The optimized exoskeleton wearing comfort index is signif

关 键 词：腰部无动力外骨骼机器人 多刚-柔体 正动力学 等效逆动力学 仿生承载舒适度 综合性能优化 

分 类 号：TH122[机械工程—机械设计及理论]