医疗助力下肢外骨骼设计及动力学仿真分析
|
摘要
针对人体下肢受伤康复等问题,设计了医疗助力下肢外骨骼机器人.对下肢外骨骼系统进行了基本结构设计,把下肢运动分单腿、双腿支撑的不同时期,进行了下肢外骨骼系统动力学计算.通过Lagrange方程,得到各关节力矩计算公式,建立了三维模型,利用基于接口的协同仿真技术并结合ADAMS和MATLAB软件对外骨骼进行联合仿真,得到单腿支撑时期各关节角度变化曲线及力矩变化曲线,对比仿真数据和理论计算数据,验证了理论模型的合理性.通过下肢外骨骼仿真分析设计,为后期下肢外骨骼运动控制及模型制造提供重要数据与理论基础.
Aiming at the problems such as lower extremity injury,the medical assistive limb exoskeleton robot is designed.The basic structure of lower limb exoskeleton system was designed.The lower limb movement was divided into different periods,such as single leg support period and two legs support period.The dynamics computation of lower limb exoskeleton system was made.By the use of the Lagrange equation,the calculation formula of each joint torque was made.The three-dimensional model was established.Based on the collaborative simulation technology of the interface,the exoskeleton was unitedly simulated united simulation by ADAMS and MATLAB software.The curves of each joint's angle and torque in the single leg support period were made.It showed the correctness of the theoretical analysis by comparing the simulation data with the theoretical calculation date.By the simulation analysis of the lower limb exoskeleton,it provides important data and theoretical basis for the motion control and model manufacturing of lower extremity exoskeleton.
Aiming at the problems such as lower extremity injury,the medical assistive limb exoskeleton robot is designed.The basic structure of lower limb exoskeleton system was designed.The lower limb movement was divided into different periods,such as single leg support period and two legs support period.The dynamics computation of lower limb exoskeleton system was made.By the use of the Lagrange equation,the calculation formula of each joint torque was made.The three-dimensional model was established.Based on the collaborative simulation technology of the interface,the exoskeleton was unitedly simulated united simulation by ADAMS and MATLAB software.The curves of each joint's angle and torque in the single leg support period were made.It showed the correctness of the theoretical analysis by comparing the simulation data with the theoretical calculation date.By the simulation analysis of the lower limb exoskeleton,it provides important data and theoretical basis for the motion control and model manufacturing of lower extremity exoskeleton.
引文
[1]杨巍,张秀峰,杨灿军,等.基于人机5杆模型的下肢外骨骼系统设计[J].浙江大学学报(工学版),2014,48(3):430-435.YANG Wei,ZHANG Xiu-feng,YANG Can-jun,et al.The design of lower extremity exoskeleton man-machine system based on 5bar model[J].Journal of Zhejiang University(Engineering Science),2014,48(3):430-435.
[2]ZHAO Yan-jun,ZHANG Yan-qing,GE Wen-qing,et al.Finite element Simulation of Soldier Lower Extremity[J].Journal of Multimedia,2013,8(6):705-711.
[3]YANG Can-jun,NIU Bin,CHEN Ying.Adaptive neurofuzzy control based development of a wearable exoskeleton leg for human walking power augmentation[C]//Proceedings of the 2005IEEE/ASME International Conference on Advanced Intelligent Mechatronics.Monterey,California,USA,July 24-28,2005:24-28.
[4]曹电锋,杨启志,庄佳奇,等.一种六自由度上肢康复机器人的结构设计及运动学分析[J].工程设计学报,2013,20(4):338-343.CAO Dian-feng,YANG Qi-zhi,ZHUANG Jia-qi,et al.Structure design and analysis of kinematics of a 6-DOF upper-limbed rehabilitation robot[J].Chinese Journal of Engineering Design,2013,20(4):338-343.
[5]杨启志,曹电锋,赵金海.上肢康复机器人研究现状的分析[J].机器人,2013,35(5):630-640.YANG Qi-zhi,CAO Dian-feng,ZHAO Jin-hai.Analysis on state of the art of upper limb rehabilitation robots[J].Robot,2013,35(5):630-640.
[6]ANDREW CHU,H KAZEROONI,ADAM ZOSS.On the mechanical design of the Berkeley Lower Extremity Exoskeleton(BLEEX)[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Edmonton,Canada,August 2-6,2005:3132-3139.
[7]王伟.可穿戴机器人的研究现状和面临的挑战[J].机器人技术与应用,2013(4):12-16.WANG Wei.Study status and challenges of wearable robot[J].Robot Technique and Application,2013(4):12-16.
[8]陈鹍,刘启栋,王人成,等.一种减重步行训练机器人的研制[J].中国康复医学杂志,2011(9):847-851.CHEN Kun,LIU Qi-dong,WANG Ren-cheng,et al.The development of a gait training robot[J].Chinese Journal of Rehabilitation Medicine,2011(9):847-851.
[9]隋立明,张立勋.气动肌肉驱动步态康复训练外骨骼装置的研究[J].哈尔滨工程大学学报,2011,32(9):1244-1248.SUI Li-ming,ZHANG Li-xun.Development of an actuated exoskeleton with pneumatic muscles for gait rehabilitation training[J].Journal of Harbin Engineering University,2011,32(9):1244-1248.
[10]孙健,余勇,葛运健,等.可穿戴下肢助力机器人感知系统研究[J].微纳电子技术,2007(7):353-357.SUN Jian,YU Yong,GE Yun-jian,et al.Research on sensing systems of wearable power assist leg[J].Micronano Electronic Technology,2007(7):353-357.
[11]沈凌,孟青云,喻洪流.基于虚拟样机技术的下肢假肢结构设计与仿真[J].工程设计学报,2011,18(1):34-37.SHEN Ling,MENG Qing-yun,YU Hong-liu.Design and simulation of leg prosthesis structure based on virtual prototype technology[J].Chinese Journal of Engineering Design,2011,18(1):34-37.
[12]刘娟秀,吴益飞,郭健,等.一种平地楼梯两用助行机器人的建模与仿真分析[J].工程设计学报,2015,22(4):344-350.LIU Juan-xiu,WU Yi-fei,GUO Jian,et al.Modeling and simulation analysis of a walking assistant robot for both plane and stair[J].Chinese Journal of Engineering Design,2015,22(4):344-350.
[13]刘方圆,吕传毅,贺磊.模块化护理床的下肢机构设计与运动分析[J].工程设计学报,2014,21(6):583-588.LIU Fang-yuan,LChuan-yi,HE Lei.Design and motion analysis of nursing bed lower limbs mechanism based on modularity[J].Chinese Journal of Engineering Design,2014,22,21(6):583-588.
[14]刘极峰,丁继斌.机器人技术基础[M].北京:高等教育出版社,2006:68-99.LIU Ji-feng,DING Ji-bin.Fundamentals of robot techniques[M].Beijing:Higher Education Press,2006:68-99.
[15]唐志勇,谭振中,裴忠才.下肢外骨骼机器人动力学分析与设计[J].系统仿真学报,2013,25(6):1338-1344.TANG Zhi-yong,TAN Zhen-zhong,PEI Zhong-cai.Analysis and design of lower extremity exoskeleton robot dynamics[J].Journal of System Simulation,2013,25(6):1338-1344.
[16]王健美,付成龙,黄元林,等.基于Matlab的双足机器人动力学仿真及仿生控制平台[J].系统仿真学报,2011,23(5):977-983.WANG Jian-mei,FU Cheng-long,HUANG Yuan-lin,et al.Dynamics simulation and bionic control platform for biped robot with Matlab[J].Journal of System Simulation,2011,23(5):977-983.
[17]惠记庄,魏芳胜,高凯,等.基于ADAMS的冗余驱动并联机器人动力学仿真研究[J].工程设计学报,2012,19(5):362-365.HUI Ji-zhuang,WEI Fang-sheng,GAO Kai,et al.Study on dynamics simulation of redundantly actuated parallel robot based on ADAMS[J].Chinese Journal of Engineering Design,2012,19(5):362-365.
[18]李增刚.ADAMS入门详解与实例[M].北京:国防工业出版社,2010:59-154.LI Zeng-gang.ADAMS introduction explain in detail and example[M].Beijing:National Defense Industry Press,2010:59-154.
[2]ZHAO Yan-jun,ZHANG Yan-qing,GE Wen-qing,et al.Finite element Simulation of Soldier Lower Extremity[J].Journal of Multimedia,2013,8(6):705-711.
[3]YANG Can-jun,NIU Bin,CHEN Ying.Adaptive neurofuzzy control based development of a wearable exoskeleton leg for human walking power augmentation[C]//Proceedings of the 2005IEEE/ASME International Conference on Advanced Intelligent Mechatronics.Monterey,California,USA,July 24-28,2005:24-28.
[4]曹电锋,杨启志,庄佳奇,等.一种六自由度上肢康复机器人的结构设计及运动学分析[J].工程设计学报,2013,20(4):338-343.CAO Dian-feng,YANG Qi-zhi,ZHUANG Jia-qi,et al.Structure design and analysis of kinematics of a 6-DOF upper-limbed rehabilitation robot[J].Chinese Journal of Engineering Design,2013,20(4):338-343.
[5]杨启志,曹电锋,赵金海.上肢康复机器人研究现状的分析[J].机器人,2013,35(5):630-640.YANG Qi-zhi,CAO Dian-feng,ZHAO Jin-hai.Analysis on state of the art of upper limb rehabilitation robots[J].Robot,2013,35(5):630-640.
[6]ANDREW CHU,H KAZEROONI,ADAM ZOSS.On the mechanical design of the Berkeley Lower Extremity Exoskeleton(BLEEX)[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Edmonton,Canada,August 2-6,2005:3132-3139.
[7]王伟.可穿戴机器人的研究现状和面临的挑战[J].机器人技术与应用,2013(4):12-16.WANG Wei.Study status and challenges of wearable robot[J].Robot Technique and Application,2013(4):12-16.
[8]陈鹍,刘启栋,王人成,等.一种减重步行训练机器人的研制[J].中国康复医学杂志,2011(9):847-851.CHEN Kun,LIU Qi-dong,WANG Ren-cheng,et al.The development of a gait training robot[J].Chinese Journal of Rehabilitation Medicine,2011(9):847-851.
[9]隋立明,张立勋.气动肌肉驱动步态康复训练外骨骼装置的研究[J].哈尔滨工程大学学报,2011,32(9):1244-1248.SUI Li-ming,ZHANG Li-xun.Development of an actuated exoskeleton with pneumatic muscles for gait rehabilitation training[J].Journal of Harbin Engineering University,2011,32(9):1244-1248.
[10]孙健,余勇,葛运健,等.可穿戴下肢助力机器人感知系统研究[J].微纳电子技术,2007(7):353-357.SUN Jian,YU Yong,GE Yun-jian,et al.Research on sensing systems of wearable power assist leg[J].Micronano Electronic Technology,2007(7):353-357.
[11]沈凌,孟青云,喻洪流.基于虚拟样机技术的下肢假肢结构设计与仿真[J].工程设计学报,2011,18(1):34-37.SHEN Ling,MENG Qing-yun,YU Hong-liu.Design and simulation of leg prosthesis structure based on virtual prototype technology[J].Chinese Journal of Engineering Design,2011,18(1):34-37.
[12]刘娟秀,吴益飞,郭健,等.一种平地楼梯两用助行机器人的建模与仿真分析[J].工程设计学报,2015,22(4):344-350.LIU Juan-xiu,WU Yi-fei,GUO Jian,et al.Modeling and simulation analysis of a walking assistant robot for both plane and stair[J].Chinese Journal of Engineering Design,2015,22(4):344-350.
[13]刘方圆,吕传毅,贺磊.模块化护理床的下肢机构设计与运动分析[J].工程设计学报,2014,21(6):583-588.LIU Fang-yuan,LChuan-yi,HE Lei.Design and motion analysis of nursing bed lower limbs mechanism based on modularity[J].Chinese Journal of Engineering Design,2014,22,21(6):583-588.
[14]刘极峰,丁继斌.机器人技术基础[M].北京:高等教育出版社,2006:68-99.LIU Ji-feng,DING Ji-bin.Fundamentals of robot techniques[M].Beijing:Higher Education Press,2006:68-99.
[15]唐志勇,谭振中,裴忠才.下肢外骨骼机器人动力学分析与设计[J].系统仿真学报,2013,25(6):1338-1344.TANG Zhi-yong,TAN Zhen-zhong,PEI Zhong-cai.Analysis and design of lower extremity exoskeleton robot dynamics[J].Journal of System Simulation,2013,25(6):1338-1344.
[16]王健美,付成龙,黄元林,等.基于Matlab的双足机器人动力学仿真及仿生控制平台[J].系统仿真学报,2011,23(5):977-983.WANG Jian-mei,FU Cheng-long,HUANG Yuan-lin,et al.Dynamics simulation and bionic control platform for biped robot with Matlab[J].Journal of System Simulation,2011,23(5):977-983.
[17]惠记庄,魏芳胜,高凯,等.基于ADAMS的冗余驱动并联机器人动力学仿真研究[J].工程设计学报,2012,19(5):362-365.HUI Ji-zhuang,WEI Fang-sheng,GAO Kai,et al.Study on dynamics simulation of redundantly actuated parallel robot based on ADAMS[J].Chinese Journal of Engineering Design,2012,19(5):362-365.
[18]李增刚.ADAMS入门详解与实例[M].北京:国防工业出版社,2010:59-154.LI Zeng-gang.ADAMS introduction explain in detail and example[M].Beijing:National Defense Industry Press,2010:59-154.