可穿戴下肢助力機(jī)器人動力學(xué)建模及其控制研究.pdf

1、中國科學(xué)技術(shù)大學(xué)碩士學(xué)位論文可穿戴下肢助力機(jī)器人動力學(xué)建模及其控制研究姓名：方郁申請學(xué)位級別：碩士專業(yè)：檢測技術(shù)及自動化裝置指導(dǎo)教師：余永20090501AbstractAbstractThewearablepowerassistrobot(WPAR)isapopularresearchfieldinrecentyears，whichrepresentsahighintegrationofmechanism，robotics，ergon

2、omics，controlengineering，sensingtechnologysignalprocessingandereTheWPARbelongstoexoskeletonrobotcategorycombiningthehumanandtherobotintooneintegratedsystemandtakingtheadvantagesofthehuman’sintelligenceandtherobot’Sphysic

3、alpowerSo，itcanaccomplishthetaskwhichthehumanCan’tcompleterelyingsolelyonhisabilityThisresearchissupportedbytheNationalNatureScienceFoundationofChina“TechnologyoftheWearableIntelligentPowerAssistRobot’andtheNational863Pr

4、oject‘‘DemonstrationPlatfoITlloftheWearablePowerAssistRobotfortheHandicappedandOld”，themaincontentsareasfollows：1Byanalyzingthecharacteristicofthelowerlimbsmotion，basedonthesimplified51inkmodel，thekinematicsoftheexoskele

5、tonrobotisanalyzedandthedynamicmodelofthelowerlimbisbuiltbasedonthesupportphaseConsideringthenonrigidbodyeffectandtheinfluenceoftheviscidityfrictionandcoulombfriction，tocalculatetheneededtorqueaccuratelythedynamicmodelof

6、thelowerlimbismodifiedThekinematicsanddynamicssimulationiSdonewithADAMSsoftware。alsothecoefficientsoffrictionaregainedbyexperiment2。I“omeettheperforlnanceofthesensorfortherobot，wecalibratethestaticanddynamiccharacteristi

7、csofthemultiaxisforcesensorswhichareusedtoi(1enti～tllemotionintentionTheplatformforinformationdetectionisalsosetupbasedonthePCIbus3Basedonthepreviouswork，weimprovetheprototypeexperimentsystem，andaddanadjustableparametert

8、ovelocity—forcecontrolstrategyaimingatthechangeoftheanglepositionToenhancethecontrolcomplianceandtheoperator’Scomfort，wecanadjustthePIDparametersandtheaccelerationaccordingtotheloadTheexperimentalresultsshowthattheeffect

9、ofpowerassistisimprovedtosomeextentTheultimategoalofthisprojectistoexpandfunctionandactivitiesofthehumanlowerlimb，andreducemusclefatiguewhilewalkingIthasitspotentialapplicationformedicalrehabilitationequipment，mallmilita