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  本文選題：人體外骨骼　切入點：動力學(xué)分析　出處：《西南交通大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著科學(xué)技術(shù)的日益進(jìn)步,人類對于自身運動性能的要求也越來越高,而外骨骼機器人便是能夠滿足這一要求的產(chǎn)物。外骨骼能夠很好的解決復(fù)雜地形或者工作環(huán)境下單個人員負(fù)載增加的需求和人體自身肌能之間的矛盾�？纱┐魇酵夤趋赖乃枷胫灰�是受到動物界具有保護(hù)外殼的動物的啟發(fā)。外骨骼在許多領(lǐng)域都有著很好的應(yīng)用前景,如在軍事領(lǐng)域可在復(fù)雜地形下進(jìn)行單兵作戰(zhàn),在倉庫中可以輔助公認(rèn)進(jìn)行貨物搬運,在醫(yī)療領(lǐng)域可以輔助下肢康復(fù)等。隨著多年的研究,國內(nèi)外已經(jīng)研究出了一批可以進(jìn)行實驗的外骨骼樣機,但是外骨骼并沒有進(jìn)行大規(guī)模的推廣,是因為動力系統(tǒng)、動力系統(tǒng)的續(xù)航和控制系統(tǒng)方面的研究還需要加強。論文以西南交通大學(xué)研制的第三代可穿戴式外骨骼實驗樣機為研究對象,選取雙膝蹲-起立動作為特征動作,用牛頓-歐拉法對外骨骼及人體的運動進(jìn)行動力學(xué)分析和仿真,具體研究如下:(1)根據(jù)人體運動學(xué)對人體運動進(jìn)行分析,選取雙膝蹲-起立動作為特征動作,并對特征動作進(jìn)行運動分析。對特征動作建立動力學(xué)模型,選取特征數(shù)據(jù)作為研究對象,對動力學(xué)模型進(jìn)行力學(xué)特征分析與計算。在MATLAB軟件中將計算過程求解,并對各個關(guān)節(jié)處不同負(fù)重下所需驅(qū)動力矩進(jìn)行仿真,最后得到了各個關(guān)節(jié)處力矩變化特征曲線。(2)根據(jù)控制變量法,將影響外骨骼力學(xué)特征的因素進(jìn)行分析,具體設(shè)計了外骨骼實驗方案,對外骨骼進(jìn)行單機版和人機偕行實驗,其中單機版又分為靜態(tài)實驗和動態(tài)實驗。將實驗結(jié)果中選取具有代表性的膝關(guān)節(jié)處力的實驗數(shù)據(jù),在MATLAB中進(jìn)行曲線擬合,與以上理論計算的仿真結(jié)果進(jìn)行對比,驗證實驗的可靠性。最后,對數(shù)據(jù)擬合過程中誤差進(jìn)行分析。(3)以人體穿戴外骨骼過程中背負(fù)的重量(傾覆力)和膝關(guān)節(jié)處驅(qū)動功率為研究對象,將實驗數(shù)據(jù)中有關(guān)的數(shù)據(jù)分類整理,在MATLAB軟件中編程計算,并用最小二乘法對原始曲線進(jìn)行擬合。最后得到了若干組不同工況下傾覆力和膝關(guān)節(jié)功率曲線,并對曲線進(jìn)行分析。
[Abstract]:With the development of science and technology, the human beings have higher and higher requirements for their own sports performance. Exoskeleton robot is the product that can meet this requirement. Exoskeleton can solve the contradiction between complex terrain or the need of individual person's load increase and human body's muscle function. The idea of exoskeleton is inspired by animals with protective shells in the animal world. Exoskeletons have a good future in many fields. Such as in the military field can be carried out under complex terrain, in the warehouse can assist in cargo handling, in the medical field can assist in the rehabilitation of lower limbs, etc. Over the years of research, At home and abroad, a number of prototypes of exoskeletons that can be experimented with have been developed, but exoskeletons have not been popularized on a large scale because of power systems. In this paper, the third generation wearable exoskeleton experimental prototype developed by Southwest Jiaotong University is taken as the research object, and the knee-squat standing motion is selected as the characteristic action. The motion of exoskeleton and human body is analyzed and simulated by Newton-Euler method. The specific research is as follows: 1) according to the kinematics of human body, the motion of human body is analyzed, and the squatting and standing motion of both knees is selected as the characteristic action. The dynamic model of feature action is established, and the characteristic data is selected as the object of study. The mechanical feature analysis and calculation of the dynamic model are carried out. The calculation process is solved in MATLAB software. At last, the characteristic curve of torque change in each joint is obtained. According to the control variable method, the factors affecting the mechanical characteristics of exoskeleton are analyzed. The exoskeleton experiment scheme is designed in detail. The external skeleton carries out single machine version and man-machine accompanying experiment, in which the single machine version is divided into static experiment and dynamic experiment. The representative experimental data of knee joint force are selected from the experimental results. The curve fitting is carried out in MATLAB, and compared with the simulation results of the theoretical calculation above, the reliability of the experiment is verified. The error in data fitting is analyzed. (3) taking the weight (overturning force) and the driving power at the knee joint of the human body in the course of wearing exoskeleton as the research object, the relevant data in the experimental data are classified and sorted, and the program calculation is carried out in the MATLAB software. The original curve was fitted with the least square method. Finally, several groups of capsizing force and knee joint power curves under different working conditions were obtained, and the curves were analyzed.
【學(xué)位授予單位】：西南交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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