外骨骼助行机器人关节运动轨迹研究  

Research on Joint Motion Trajectory of Exoskeleton Assisted Walking Robot

作　　者：桓茜 陈宇 王伟[1] HUA NXi;CHEN Yu;WANG Wei(School of Aeronautical Engineering,Shaanxi Polytechnic Institute,Xianyang 712000,China;Chengdu Holy Industry&Commerce Co.,Ltd.,Chengdu 611937,China)

机构地区：[1]陕西工业职业技术学院航空工程学院,陕西咸阳712000 [2]成都航利(集团)实业有限公司,四川成都611937

出　　处：《自动化仪表》2024年第5期73-76,共4页Process Automation Instrumentation

基　　金：陕西工业职业技术学院科研基金资助项目(2023YKYB-036)。

摘　　要：外骨骼助行机器人耦合在人体下肢各关节处实现整体协调运动。有效、合理的关节运动轨迹对于外骨骼的辅助运动至关重要。通过对助行机器人结构特征及关节运动角度的分析,采用D-H参数法建立了外骨骼机器人在矢状面内的正向和逆向运动学模型,并通过位姿变换求解出各关节变化量。针对外骨骼助行机器人关节运动进行轨迹规划,利用Matlab Robotics Toolbox中的link函数建立了外骨骼二连杆机构的三维仿真模型,并采用五次多项式插值函数对外骨骼髋关节、膝关节进行了关节轨迹规划。仿真得到关节位移、速度和加速度三个运动轨迹曲线。仿真结果光滑连续,符合外骨骼辅助运动的特征。该研究能够为外骨骼助行机器人的控制设计提供参考。The exoskeleton assisted walking robot is coupled to achieve overall coordinated motion at the joints of human lower limbs.Effective and reasonable joint motion trajectories are crucial for the assisted motion of the exoskeleton.By analyzing the structural characteristics and joint motion angles of the assisted walking robot,the forward and inverse kinematic models of the exoskeleton robot in the sagittal plane are established by the D-H parametric method,and the change quantities of each joint are solved by the positional transformation.For the trajectory planning of the joint motion of the exoskeleton assisted walking robot,the three-dimensional simulation model of the exoskeleton two-link mechanism is established by using the link function in Matlab Robotics Toolbox,and the joint trajectory planning of the exoskeleton hip and knee joints is carried out by adopting the fifthdegree polynomial interpolation function.The three motion trajectory curves of joint displacement,velocity and acceleration are obtained in the simulation.The simulation results are smooth and continuous,which are consistent with the characteristics of exoskeleton assisted motion.This research can provide reference for the control design of exoskeleton assisted walking robot.

关 键 词：外骨骼助行机器人 神经网络 位置跟踪误差 运动学模型 D-H参数法 轨迹规划 

分 类 号：TH-39[机械工程]