运动协助型机械外骨骼的数学建模以及协同控制策略研究
毕业论文关键词 外骨骼 运动学模型 SimMechanics PID控制
Title Mathematical Modeling and Cooperative Control Strategy Design of Mechanical Motion Assistant Exoskeletons
Abstract
In recent years, with the increase of aging population and physical
disabilities, more attentions have been paid on studies of the lower
extremity exoskeleton. It is a man-machine integration device and fusion
of multi-subject technology. This article will discuss on mathematical
modeling and its coordinated control strategy in aim to designing a more
safety and comfortable exoskeleton.
Firstly, the law of human gait and leg structure is studied in details.
On this basis and combining the robotics，the freedom and the structure
parameters of exoskeleton can be designed . Secondly, by using the D-H
model, the mathematical model will be established to analyze the
relationship between the pose and motion. Thirdly, by using Lagrange
equation, a dynamic model which is to study the relationship between the
torque and motion is established. Finally, a modern simulation tool called
SimMechanics is used to set up the kinematics model. PID control is used
in the article. The step response and sine wave response have been analyzed
to earn feasibility results.
Keywords Exoskeleton Kinematics model SimMechanics PID control
目 次
1 引言 . 1
1．1 选题依据和研究意义 .. 1
1．2 国内外研究现状 1
1．3 本文研究内容 .. 9
2 下肢外骨骼结构设计 . 11
2．1 人体行走的生物力学 . 11
2．2 下肢外骨骼的结构设计 .. 12
2．3 小结 14
3 下肢外骨骼的数学建模 .. 15
3．1 运动学模型 15
3．2 动力学模型 20
3．3 小结 26
4 下肢外骨骼的仿真和控制方法研究 . 28
4．1 基于SimMechanics的仿真 .. 28
4．2 PID控制 31
4．3 小结 36
结 论 . 37
致 谢 . 38
参考文献 .. 39
1 引言
1．1 选题依据和研究意义
1990年之后，我国的老龄化进程逐渐加快。在老龄化的过程中，老年人因为生理
衰退而导致四肢能力逐渐下降， 这将对生活、社会造成种种不利影响。据统计，从1990
年到2000年， 65岁及以上老年人口从6299万增加到8811万，占总人口的比例由5.57%
上升为6.96%。预计到2040年，65岁及以上老年总人口的比例将超过20%，80岁及以上高龄老人也正以每年5%的速度增加[1]
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