手臂助力系统设计及实验研究
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摘要
随着社会的发展,人类不断面临各种自然界给与的考验,大灾后的施救、恶劣环境中的生存等等挑战人类自身身体极限能力的难题,日益突出的摆在人类面前,负荷长途步行能力、举起几倍于自己体重的物体的能力、攀岩跨越能力等等亟待提高,这些都属于人体助力的范畴。人体助力作为新兴的科研领域已经根据应用领域的需要而不断发展,在工业现场和汽车工程以及康复医疗、军事武装设备等方面均有体现。
本文以如何实现人体手臂助力为研究任务,结合汽车电动助力转向控制策略,研制了一套人体手臂外骨骼助力系统,该系统包括外骨骼机械系统、传感器、控制集成电路板、微机开发板、电机及驱动装置、电脑终端等。
全文贯穿了理论分析和技术实现两个基本问题,主要研究内容体现在以下4个方面:
1.对现有的人体助力机械系统进行了归纳总结,设计了一套与现有查得的外骨骼机械系统不同的连杆传动机构,并完成了机械系统样机的加工和组装。
2.通过人—机系统运动学和动力学分析,建立了手臂及外骨骼的机械系统运动学和动力学模型,并运用仿真技术,验证了手臂与外骨骼机械系统的动力学模型的正确性,为研究追踪性控制策略提供了理论支持。
3.进行了详细的控制策略理论分析,建立了典型控制策略需要的助力特性曲线函数表达式,并进行了软、硬件设计以实现设定的控制策略。
4.对样机实验采集的数据进行了合理的分析,得出的实验结果验证了控制策略的正确性和可行性。
Human being has to face more and more challenge from nature environment, with the development of society. The main problems include life succor of nature disaster, surviving in inclement environment and so on. Most of the situations mentioned above will test the ultimate ability of human being. Human ability, like walking long-distance with heavy load, lifting big mass and stride huge clog etc, still need to be enhanced with the help of power assist human body system. As a rising research target, power assist system plays importent roles in different application area; including human body rehabilitation, automobile engineering, industry scene and armament etc.
The human power-assist arm system with base on control strategy of EPS with the target of realizeing arm power assist is investigated in this paper. The research include analyse of system structure and design of control strategy of system. In order to satisfy the functions of climb, push-and-pull, and heavy lift and so on, an experimental prototype is developed to implement and to test the typical control logic of power assist system. The components of the experimental prototype include exoskeleton mechanical systems, sensor, IC control board, computer development board, electromotor with driver, terminal etc.
This paper focus on theory and application of the system refers multidisciplinary, and the main content of the research include:
1. Survey and analysis on current human power assist mechanical system. A new exoskeleton mechanical structure is designed. And an experimental prototype is developed to demonstrate the design.
2. The kinematics and dynamics simulation model of the arm exoskeleton are built via the kinematics and dynamics analyze of the human-machine system. The simulation model demonstrates the mathematic model of kinematics and dynamics for our arm exoskeleton system, and support to study the tracking control strategy.
3. The theory of control strategy is analysed and the typical power assist characteristics curve of control strategy mathematic model is built. Then the hardware and software are designed.
4. The validity of the control strategy is proved via the experiment data analysis of the experimental prototype.
本文以如何实现人体手臂助力为研究任务,结合汽车电动助力转向控制策略,研制了一套人体手臂外骨骼助力系统,该系统包括外骨骼机械系统、传感器、控制集成电路板、微机开发板、电机及驱动装置、电脑终端等。
全文贯穿了理论分析和技术实现两个基本问题,主要研究内容体现在以下4个方面:
1.对现有的人体助力机械系统进行了归纳总结,设计了一套与现有查得的外骨骼机械系统不同的连杆传动机构,并完成了机械系统样机的加工和组装。
2.通过人—机系统运动学和动力学分析,建立了手臂及外骨骼的机械系统运动学和动力学模型,并运用仿真技术,验证了手臂与外骨骼机械系统的动力学模型的正确性,为研究追踪性控制策略提供了理论支持。
3.进行了详细的控制策略理论分析,建立了典型控制策略需要的助力特性曲线函数表达式,并进行了软、硬件设计以实现设定的控制策略。
4.对样机实验采集的数据进行了合理的分析,得出的实验结果验证了控制策略的正确性和可行性。
Human being has to face more and more challenge from nature environment, with the development of society. The main problems include life succor of nature disaster, surviving in inclement environment and so on. Most of the situations mentioned above will test the ultimate ability of human being. Human ability, like walking long-distance with heavy load, lifting big mass and stride huge clog etc, still need to be enhanced with the help of power assist human body system. As a rising research target, power assist system plays importent roles in different application area; including human body rehabilitation, automobile engineering, industry scene and armament etc.
The human power-assist arm system with base on control strategy of EPS with the target of realizeing arm power assist is investigated in this paper. The research include analyse of system structure and design of control strategy of system. In order to satisfy the functions of climb, push-and-pull, and heavy lift and so on, an experimental prototype is developed to implement and to test the typical control logic of power assist system. The components of the experimental prototype include exoskeleton mechanical systems, sensor, IC control board, computer development board, electromotor with driver, terminal etc.
This paper focus on theory and application of the system refers multidisciplinary, and the main content of the research include:
1. Survey and analysis on current human power assist mechanical system. A new exoskeleton mechanical structure is designed. And an experimental prototype is developed to demonstrate the design.
2. The kinematics and dynamics simulation model of the arm exoskeleton are built via the kinematics and dynamics analyze of the human-machine system. The simulation model demonstrates the mathematic model of kinematics and dynamics for our arm exoskeleton system, and support to study the tracking control strategy.
3. The theory of control strategy is analysed and the typical power assist characteristics curve of control strategy mathematic model is built. Then the hardware and software are designed.
4. The validity of the control strategy is proved via the experiment data analysis of the experimental prototype.
引文
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[3]A.Chu,H.Kazerooni,and A.Zoss,"On the biomimetic design of the berkeley lower extremity exoskeleton(BLEEX)",in Proc.IEEE ICRA,Barcelona,Spain,Apr.18-22,2005.pp.4345-4352.
[4]陈峰.可穿戴型助力机器人技术研究[D].合肥.:中国科学技术大学,2007.5:46-47.
[5]Winder,Samuel B.Esposito,Joel M,"Modeling and Control of an Upper-Body Exoskeleton",40th Southeastern Symposium on System Theory TA1.4 New Orleans,LA,USA,March 16-18,2008
[6]Kazerooni,H.Racine,J.-L.Lihua Huang,Steger,R."On the Control of the Berkeley Lower Extremity Exoskeleton(BLLEX) "Robotics and Automation,2005.ICRA 2005.Proceedings of the 2005 IEEE International Conference Page(s):4353-4360,on 18-22,April,2005.
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[9]杨端峰.助力吊设计[D].哈尔滨哈尔滨工程大学,2005.6:56-57.
[10]施国标.电动助力转向助力特性仿真与控制策略研究[D].长春:吉林大学,2002.6:23-25.
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[13]李元敬,张朝珍.优秀女子标枪运动员最后用力阶段肘关节生物力学分析及运动损伤调查[J].中国组织工程研究与临床康复.2007.11:18-19.
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[23]Hyeon-Jae Yu,Youngjin Choi,"Real Time Tracking Algorithm of sEMG-Based Human Arm Motion Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems",San Diego,CA,USA,Oct 29-Nov 2,2007.
[24]Dongwoon Chel,Ohung Kwon,“Design of Multipurpose Sensing System for Human Gait Analysis”SICE-ICASE International Joint Conference,Oct.18-21,2006
[25]张春林.高等机构学[M].北京:北京理工大学出版社(第二版).
[26]胡宇川,季林红.一种偏瘫上肢复合运动的康复训练机器人[J].机械设计与制造.2006.1:3-5.
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[47]74LS136器件手册.http://www.elecfans.com.
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