机械科学与技术2024，Vol.43Issue(8)：1304-1312,9.DOI:10.13433/j.cnki.1003-8728.20230123
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
邓蓉 1刘放 1黄文建 1杨明发 1李晨晖1
作者信息
- 1. 西南交通大学机械工程学院,成都 610031
- 折叠
摘要
Abstract
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Key words
assists exoskeletons/dynamic simulation/anthropomorphic modeling/man-machine portability分类
信息技术与安全科学引用本文复制引用
邓蓉,刘放,黄文建,杨明发,李晨晖..人机携行外骨骼负重上楼梯的动态建模与仿真[J].机械科学与技术,2024,43(8):1304-1312,9.
