| 下肢外骨骼动力学分析与控制策略研究 |
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| 引用本文： | 刘金宏,杨丽红.下肢外骨骼动力学分析与控制策略研究[J].农业装备与车辆工程,2020,58(2):109-114. |
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| 作者姓名： | 刘金宏 杨丽红 |
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| 作者单位： | 200093 上海市 上海理工大学机械工程学院;200093 上海市 上海理工大学机械工程学院 |
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| 摘 要： | 针对流水线工人工作时需要长时间处于重复单一地站起、蹲下作业的姿态,关节、脊椎受损严重的问题,设计了一款结构轻巧、穿戴方便、安全舒适的下肢外骨骼起蹲系统。为了实现下肢外骨骼人机跟随系统的有效控制,简化模型后采用拉格朗日方法建立系统数学模型并进行动力学分析,最后运用迭代学习控制算法对外骨骼的控制策略进行了研究,并进行仿真实验。结果表明,外骨骼系统与人体运动之间的跟随误差可以得到有效控制,验证了此方法的可行性,同时也为进一步研究外骨骼系统提供了良好的理论依据和方法参考。
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| 关 键 词： | 外骨骼 起蹲运动 动力学 迭代学习 |
Dynamics Analysis and Control Strategy Research of Lower Limbs Exoskeleton |
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| Liu Jinhong,Yang Lihong.Dynamics Analysis and Control Strategy Research of Lower Limbs Exoskeleton[J].Agricultural Equipment & Vehicle Engineering,2020,58(2):109-114. |
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| Authors: | Liu Jinhong Yang Lihong |
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| Institution: | (College of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China) |
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| Abstract: | In view of the problem that the assembly line workers need to squat-stand for a long time,and the joints and spine are seriously damaged,a lower limb exoskeleton equipment with light structure,convenient wear,safety and comfort is designed.In order to realize the effective control of the exoskeleton following system,the Lagrange method is used to establish the system mathematical model and the dynamics system is analyzed.Finally,the iterative learning control algorithm is used to control the exoskeleton and the simulation experiment is carried out.The results show that the following error between the exoskeleton system and human motion can be effectively controlled,which verifies the feasibility of this method and provides a good theoretical reference for further study of the exoskeleton system. |
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| Keywords: | exoskeleton squatting-standing dynamics iterative learning |
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