人机携行外骨骼负重上楼梯的动态建模与仿真  

Dynamic Modeling and Simulation of Man-machine Carrying Exoskeleton up Stairs

作　　者：邓蓉 刘放[1] 黄文建 杨明发 李晨晖 DENG Rong;LIU Fang;HUANG Wenjian;YANG Mingfa;LI Chenhui(School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610031,China)

机构地区：[1]西南交通大学机械工程学院,成都610031

出　　处：《机械科学与技术》2024年第8期1304-1312,共9页Mechanical Science and Technology for Aerospace Engineering

摘　　要：研究外骨骼在不同负重情况下上楼梯时各关节驱动力矩变化规律。基于西南交通大学第三代人机携行助力外骨骼机器人,首先运用D-H法推导了外骨骼的运动学模型,研究外骨骼各个连杆之间的相对运动与位姿关系;其次,基于拉格朗日方法构建了外骨骼动力学模型,并进行了动力学仿真分析;最后,将拟合得到的人体步态周期数据作为基于Adams环境中外骨骼在不同负重情况下上楼梯动力学仿真中的驱动函数,得到各关节驱动力矩数据。所得结果验证了运用拟人建模方法辨识外骨骼机器人动力学模型的有效性,为外骨骼在负重上楼梯环境下的系统驱动和控制提供了理论基础,增加了人机携行性。To study the change law of the driving torque of each joint when the exoskeleton goes up stairs under different load-bearing conditions.Based on the third-generation human-machine portability power-assisted exoskeleton robot of Southwest Jiaotong University,the kinematic model of the exoskeleton was firstly derived with the D-H method,and the relative motion and pose relationship between the links of the exoskeleton was studied.The Lagrange method constructed the exoskeleton dynamics model and carried out the dynamic simulation analysis;Finally,the fitted human gait cycle data was used as the driving force in the dynamic simulation of the exoskeleton under different load-bearing conditions based on Adams environment.function to obtain the driving torque data of each joint.The obtained results verify the effectiveness of using the anthropomorphic modeling method to identify the dynamic model of the exoskeleton robot,provide a theoretical basis for the system drive and control of the exoskeleton in the environment of loading stairs,and increased the man-machine portability.

关 键 词：助力外骨骼 动力学仿真 拟人建模 人机携行 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]