套装式机器人设计与实验研究
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摘要
套装式机器人是帮助老年人和体弱者独立行走的一种机器人。套装式机器人技术的研究,对于提高各种由疾病、交通事故引起的下肢运动功能障碍、运动和神经损伤的康复治疗效果有着重要的意义,同时对减轻社会负担也有着重要的实际意义。
首先介绍了套装式机器人的国内外研究现状,在详细的分析套装式机器人技术难点的基础上,设计了机器人的总体方案。在机器人的结构设计中,依据拟人化的设计思想,考虑人体下肢的结构和运动特点,设计了具有8自由度的助力机器人。机器人的髋、膝关节分别由电机通过丝杠螺母机构驱动。根据人体膝关节的结构特点,采用优化设计的方法,设计了四杆仿生膝关节。控制系统的设计采用分散式的上下两级的控制方式。
应用D-H法对机器人进行了运动学分析,建立了机器人的运动学方程。并且搭建了机器人单腿的SimMechanics仿真模型,对运动学方程进行了验证。根据获得的人体步态规律,采用三次样条插值的方法,对机器人髋、膝关节角度变化规律进行了规划。
基于dSPACE建立了机器人单腿半物理实验系统,对机器人腿进行了位置闭环控制。主要进行了机器人单腿的空载阶跃、正弦响应和带负载步行实验,实验结果表明机器人能够实现步行规律,具有较强的负载能力。
The Lower Limb Power Assisted Robot is a kind of robot that helps the elderly and the infirm to walk independently. The research of the Lower Limb Power Assisted Robot will contribute a lot to the treatment and rehabilitation from dysfunction of the lower limps, sport and nerve injuries caused by various kinds of diseases and traffic accidents, which also provides the practical function to lighten the burden of the society.
Firstly, the present conditions of the domestic and foreign research on the Lower Power Assisted Robot are introduced in the thesis, and the overall design of the robot is presented based on the detailed analysis of the technical difficulties in the Lower Limb Power Assisted Robot. The design idea of personification is employed and the structure of human's lower limps and their sport features are regarded considerably in designing the structure of the robot, and the assisted robot with 8-DOF is designed. Robot's hip and knees are driven through the screw-nut bodies separately by the electric motor. According to the structural characteristics of human's knee joints and by adopting the design plan of optimization, four-bar knee joint is designed. The control system uses the decentralized ways of both the upper and the lower levels.
The robot is analyzed by the method of D-H from the perspective of kinematics, and the kinematical equation of the robot is established. Meanwhile, SimMechanics simulation model of robot single leg is set up to test the kinematical equation. Based on the regularity of human's gait.By using cubic spline interpolation method, the changes pattern of the robot's hip and knee joint angles is projected.
Single leg semi-physical experimental system is founded based on dSPACE, position closed-loop control is employed in the robot's legs. The experiments such as load step, sine response and walking with a load are carried on the robot, which proves that the robot achieves the gait regularity and has a strong load capacity.
首先介绍了套装式机器人的国内外研究现状,在详细的分析套装式机器人技术难点的基础上,设计了机器人的总体方案。在机器人的结构设计中,依据拟人化的设计思想,考虑人体下肢的结构和运动特点,设计了具有8自由度的助力机器人。机器人的髋、膝关节分别由电机通过丝杠螺母机构驱动。根据人体膝关节的结构特点,采用优化设计的方法,设计了四杆仿生膝关节。控制系统的设计采用分散式的上下两级的控制方式。
应用D-H法对机器人进行了运动学分析,建立了机器人的运动学方程。并且搭建了机器人单腿的SimMechanics仿真模型,对运动学方程进行了验证。根据获得的人体步态规律,采用三次样条插值的方法,对机器人髋、膝关节角度变化规律进行了规划。
基于dSPACE建立了机器人单腿半物理实验系统,对机器人腿进行了位置闭环控制。主要进行了机器人单腿的空载阶跃、正弦响应和带负载步行实验,实验结果表明机器人能够实现步行规律,具有较强的负载能力。
The Lower Limb Power Assisted Robot is a kind of robot that helps the elderly and the infirm to walk independently. The research of the Lower Limb Power Assisted Robot will contribute a lot to the treatment and rehabilitation from dysfunction of the lower limps, sport and nerve injuries caused by various kinds of diseases and traffic accidents, which also provides the practical function to lighten the burden of the society.
Firstly, the present conditions of the domestic and foreign research on the Lower Power Assisted Robot are introduced in the thesis, and the overall design of the robot is presented based on the detailed analysis of the technical difficulties in the Lower Limb Power Assisted Robot. The design idea of personification is employed and the structure of human's lower limps and their sport features are regarded considerably in designing the structure of the robot, and the assisted robot with 8-DOF is designed. Robot's hip and knees are driven through the screw-nut bodies separately by the electric motor. According to the structural characteristics of human's knee joints and by adopting the design plan of optimization, four-bar knee joint is designed. The control system uses the decentralized ways of both the upper and the lower levels.
The robot is analyzed by the method of D-H from the perspective of kinematics, and the kinematical equation of the robot is established. Meanwhile, SimMechanics simulation model of robot single leg is set up to test the kinematical equation. Based on the regularity of human's gait.By using cubic spline interpolation method, the changes pattern of the robot's hip and knee joint angles is projected.
Single leg semi-physical experimental system is founded based on dSPACE, position closed-loop control is employed in the robot's legs. The experiments such as load step, sine response and walking with a load are carried on the robot, which proves that the robot achieves the gait regularity and has a strong load capacity.
引文
[1]吕广明,孙立宁,彭龙刚.康复机器人技术发展现状及关键技术分析.哈尔滨工业大学学报,2004,36(9)：1225-1227页
[2]杜志江,孙立宁.外科机器人技术发展现状及关键技术分析.哈尔滨工业大学学报,2003,35(7)：773-777页
[3]张济川,金德文.中外辅助技术的发展状况比较.中国康复理论与实践.2007,13(4)：324-326页
[4]张济川,金德文.我国康复医学工程事业发展面临的机遇和挑战.中国康复医学杂志.2005,20(4)：288-289页
[5]赵彦峻,徐诚,张景柱,骆宇飞.人体下肢外骨骼关键技术分析与研究.机械设计.2008,25(10)：1-4页
[6]G Colombo, M.Joerg, R.Sehreier, and V. Dietz. Treadmill training of paraplegic patient with a robotic orthosis. Journal of Rehabilitation Research and Development,2000(37):95-98P
[7]JETRO. New Possibilities for Japan's Robot Industry. Japan Economic Monthly, February 2006,(7):15-19P
[8]吴宝元,余勇,许德章.可穿戴式下肢助力机器人运动学分析与仿真.机械科学与技术.2007,26(2)：235-237页
[9]陈峰.可穿戴型助力机器人技术研究.中国科学技术大学博士学位论文.2007：4-12页
[10]Sun Zhaojun,Yu Yong,Ge Yunjian,Chen Feng. Research on Sensing Information Forecasting for Power Assist Walking Legs. ICMA2009. 2009.9:1816-1818P
[11]费烨赞.基于肌电信号控制的康复医疗下肢外骨骼设计及研究.浙江大学硕士学位论文.2006：53-57页
[12]牛彬.可穿戴式的下肢步行外骨骼控制机理研究与实现.浙江大学硕士学位论文.2006：39-42页
[13]Conor James Walsh, Daniel Paluska. Development of a lightweight, underactuated exoskeleton for load-carrying augmentation. Proceedings of 2006 IEEE International Conference on Robotics and Automation. Orlando, May,2006:3485-3491P
[14]A.Cullell, J.C. Moreno,E. Rocon, A. Forner-Cordero, J.L. Pons. Biologically based design of an actuator system for a knee-ankle-foot orthosis. Mechanism and Machine Theory,2008,4(1)
[15]J.C. Moreno, A. Cullell.Simulation of knee function during gait with anorthosis by means of two springs of different stifnesses. Modeling approach of posture and gait,2008,21(13):140
[16]J.M. Baydal et al, Development of a new concept of an orthotic knee joint compatible with the kinematics of the human knee joint, Prosthetic and Orthotic International (Journal) (2006) 371-383P
[17]Hayashi T,Kawamoto H,Sankai Y.Control method of robot suit HAL working as Operator's muscle using biological and dynamical information. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005:3455-3460P
[18]Hiroaki Kawamoto and Yoshiyuki Sankai. Power Assist System HAL-3 for Gait Disorder Person. ICCHP 2002, LNCS2398,2002:196-203P
[19]http://songshuhui.net/archives/15537.html
[20]Adam Zoss, H. Kazerooni, Andrew Chu. On the Mechanical Design of the Berkeley Lower Extremity Exoskeleton (BLEEX). Berkeley, CA,94720, USAexo ＠ berkeley. edu, http://bleex.me.berkeley.edu
[21]http://yobotics.com/robowalker/robowalker.html
[22]Jerry E. Pratt, Steven H. Collins, Benjamin T. Krupp, Christopher J. Morse. The RoboKnee:An Exoskeleton forEnhancing Strength and Endurance During Walking. Proceedings of the 2004 IEEE International Conference on Robotics and Automation. New Orleans, April,2004:2430-2435P
[23]Sai K. Banala, Alexander Kulpe, Sunil K. Agrawal. A Powered Leg Orthosis for Gait Rehabilitation ofMotor-Impaired Patients.2007 IEEE International Conference on Robotics and Automation Roma, Italy, April 2007:4140-4145P
[24]SeungNam Yu, SeungHoon Lee, HeeDon Lee, ChangSoo Han. Design and Feasibility Verification of a KneeAssistive Exoskeleton Systemfor Construction Workers. Robotics and Automation in Construction.2007: 310-323P
[25]Nelson Costa, Darwin G. Caldwell. Joint Motion Control of a Powered Lower Limb Orthosis for Rehabilitation. International Journal Automation and Computing.2006,3:271-281P
[26]Steve Davis, Darwin G. Caldwell.Braid Effects on Contractile Range and Friction Modeling in Pneumatic Muscle Actuators. I. J. Robotic Res. 2006,25(4):359-369P
[27]Gery Colombo,Matthias Joerg,Reinhard Schreier,Volker Dietz.Treadmill training of paraplegic patients using a robotic orthosis.Journal of Rehabilitation Research and Development,2000,37(6):693-700P
[28]L.Lunenburger,Gery Colombo,Robert Riener,Volker Dietz.Biofeedback in gait training with the robotic orthosis Lokomat.Proceedings of the 26th Annual International Conference of the IEEE EMBS.CA:San-Francisco,2004:4888-4891P
[29]王斌锐,徐心和.智能仿生腿的研究.控制与决策,2004,19(2)：121-125页
[30]James W, Stuart H. Technical note:Beyond the four-bar knee. Journal of Prosthetics and Orthotics,1998,10(3):78-80P
[31]Steven A, Dudley S, Jack E. The influence of four-bar linkage knees on prosthetic swing-phase floorclearance. Journal of Prosthetics and Orthotics,1996,8(2):34-39P
[32]刘文庆,刘跃光,李艳君..人体解剖学.哈尔滨：哈尔滨工程大学出版社.2009：1-2页
[33]郑秀瑗,贾书惠,高云峰,等.现代运动生物力学.北京：国防工业出版社,2002.314-318页
[34]陈占伏,杨秀霞,顾文锦.下肢外骨骼机械结构的分析与设计.计算机仿真.2008,25(8)：238-241页
[35]丁玉兰.人机工程学.北京：北京理工大学出版社,2000：34-56页
[36]http://www.china-airmotors.com/Article/mdjs/496.html
[37]梁利华.液压传动与电液伺服系统.哈尔滨：哈尔滨工程大学出版社,2005：1-5页
[38]王三民.机械原理与设计.北京：机械工业出版社,2000：156-157页
[39]杨恩霞.机械设计.哈尔滨：哈尔滨工程大学,2006：63-64,126页
[40]赵豫玉.穿戴式下肢康复机器人的研究.哈尔滨工程大学硕士论文.2009：44页
[41]www.sh-xinkuan.com
[42]尚昆,沈力行,赵改平.四连杆膝关节运动学性能仿真软件的实现.医用生物力学.2009,24(2)：107-110页
[43]Siegmer Blumentritt, Hans Werner.Design principles,biomechanical data and clinical experience with a polycentric knee offering controlled stance phase knee flexion:A preliminary report[J].J of Prosthetics and Orthotics,1997,9(1):18-24P
[44]薛定宇,陈阳泉.控制数学问题的MATLAB求解.北京：清华大学出版社,2007：254-261
[45]Radcliffe CW, DegM S, Professor M E. Biomechanics of Knee Stability Control with Four-Bar Prosthetic Knees. ISPO Australia Annual Meeting Melbourne, Australia,2003,11
[46]Four-Bar Knee Prosthesis Simulation Results For the Mechanical Linkage Configuration of the Ken Dall 800. Centre for Biomedical Engineering Dept of Electrical And Computer Systems Engineering of Monash University.2004.7
[47]Technical Report on the TGK-5PS(?)SLK, TGK-5PS(?) and the TGK-5(?)S(?) PC Knee Units. DAW Industries Department of Research and Development.2003
[48]王斌锐.异构双腿行走机器人研究与开发.东北大学博士学位论文.2005.2
[49]Saeed B.Niku著,孙春富等译.机器人学导论—分析、系统及应用.北京：电子工业出版社.2004：60-63页
[50]王岚,王婷,张劲松,张今瑜.人体步态规律测量分析与研究.哈尔滨工程大学学报.2008,29(6)：589-593页
[51]李庆扬,王能超,易大义.数值分析.武汉：华中科技大学出版社.1986：33-38页
[2]杜志江,孙立宁.外科机器人技术发展现状及关键技术分析.哈尔滨工业大学学报,2003,35(7)：773-777页
[3]张济川,金德文.中外辅助技术的发展状况比较.中国康复理论与实践.2007,13(4)：324-326页
[4]张济川,金德文.我国康复医学工程事业发展面临的机遇和挑战.中国康复医学杂志.2005,20(4)：288-289页
[5]赵彦峻,徐诚,张景柱,骆宇飞.人体下肢外骨骼关键技术分析与研究.机械设计.2008,25(10)：1-4页
[6]G Colombo, M.Joerg, R.Sehreier, and V. Dietz. Treadmill training of paraplegic patient with a robotic orthosis. Journal of Rehabilitation Research and Development,2000(37):95-98P
[7]JETRO. New Possibilities for Japan's Robot Industry. Japan Economic Monthly, February 2006,(7):15-19P
[8]吴宝元,余勇,许德章.可穿戴式下肢助力机器人运动学分析与仿真.机械科学与技术.2007,26(2)：235-237页
[9]陈峰.可穿戴型助力机器人技术研究.中国科学技术大学博士学位论文.2007：4-12页
[10]Sun Zhaojun,Yu Yong,Ge Yunjian,Chen Feng. Research on Sensing Information Forecasting for Power Assist Walking Legs. ICMA2009. 2009.9:1816-1818P
[11]费烨赞.基于肌电信号控制的康复医疗下肢外骨骼设计及研究.浙江大学硕士学位论文.2006：53-57页
[12]牛彬.可穿戴式的下肢步行外骨骼控制机理研究与实现.浙江大学硕士学位论文.2006：39-42页
[13]Conor James Walsh, Daniel Paluska. Development of a lightweight, underactuated exoskeleton for load-carrying augmentation. Proceedings of 2006 IEEE International Conference on Robotics and Automation. Orlando, May,2006:3485-3491P
[14]A.Cullell, J.C. Moreno,E. Rocon, A. Forner-Cordero, J.L. Pons. Biologically based design of an actuator system for a knee-ankle-foot orthosis. Mechanism and Machine Theory,2008,4(1)
[15]J.C. Moreno, A. Cullell.Simulation of knee function during gait with anorthosis by means of two springs of different stifnesses. Modeling approach of posture and gait,2008,21(13):140
[16]J.M. Baydal et al, Development of a new concept of an orthotic knee joint compatible with the kinematics of the human knee joint, Prosthetic and Orthotic International (Journal) (2006) 371-383P
[17]Hayashi T,Kawamoto H,Sankai Y.Control method of robot suit HAL working as Operator's muscle using biological and dynamical information. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005:3455-3460P
[18]Hiroaki Kawamoto and Yoshiyuki Sankai. Power Assist System HAL-3 for Gait Disorder Person. ICCHP 2002, LNCS2398,2002:196-203P
[19]http://songshuhui.net/archives/15537.html
[20]Adam Zoss, H. Kazerooni, Andrew Chu. On the Mechanical Design of the Berkeley Lower Extremity Exoskeleton (BLEEX). Berkeley, CA,94720, USAexo ＠ berkeley. edu, http://bleex.me.berkeley.edu
[21]http://yobotics.com/robowalker/robowalker.html
[22]Jerry E. Pratt, Steven H. Collins, Benjamin T. Krupp, Christopher J. Morse. The RoboKnee:An Exoskeleton forEnhancing Strength and Endurance During Walking. Proceedings of the 2004 IEEE International Conference on Robotics and Automation. New Orleans, April,2004:2430-2435P
[23]Sai K. Banala, Alexander Kulpe, Sunil K. Agrawal. A Powered Leg Orthosis for Gait Rehabilitation ofMotor-Impaired Patients.2007 IEEE International Conference on Robotics and Automation Roma, Italy, April 2007:4140-4145P
[24]SeungNam Yu, SeungHoon Lee, HeeDon Lee, ChangSoo Han. Design and Feasibility Verification of a KneeAssistive Exoskeleton Systemfor Construction Workers. Robotics and Automation in Construction.2007: 310-323P
[25]Nelson Costa, Darwin G. Caldwell. Joint Motion Control of a Powered Lower Limb Orthosis for Rehabilitation. International Journal Automation and Computing.2006,3:271-281P
[26]Steve Davis, Darwin G. Caldwell.Braid Effects on Contractile Range and Friction Modeling in Pneumatic Muscle Actuators. I. J. Robotic Res. 2006,25(4):359-369P
[27]Gery Colombo,Matthias Joerg,Reinhard Schreier,Volker Dietz.Treadmill training of paraplegic patients using a robotic orthosis.Journal of Rehabilitation Research and Development,2000,37(6):693-700P
[28]L.Lunenburger,Gery Colombo,Robert Riener,Volker Dietz.Biofeedback in gait training with the robotic orthosis Lokomat.Proceedings of the 26th Annual International Conference of the IEEE EMBS.CA:San-Francisco,2004:4888-4891P
[29]王斌锐,徐心和.智能仿生腿的研究.控制与决策,2004,19(2)：121-125页
[30]James W, Stuart H. Technical note:Beyond the four-bar knee. Journal of Prosthetics and Orthotics,1998,10(3):78-80P
[31]Steven A, Dudley S, Jack E. The influence of four-bar linkage knees on prosthetic swing-phase floorclearance. Journal of Prosthetics and Orthotics,1996,8(2):34-39P
[32]刘文庆,刘跃光,李艳君..人体解剖学.哈尔滨：哈尔滨工程大学出版社.2009：1-2页
[33]郑秀瑗,贾书惠,高云峰,等.现代运动生物力学.北京：国防工业出版社,2002.314-318页
[34]陈占伏,杨秀霞,顾文锦.下肢外骨骼机械结构的分析与设计.计算机仿真.2008,25(8)：238-241页
[35]丁玉兰.人机工程学.北京：北京理工大学出版社,2000：34-56页
[36]http://www.china-airmotors.com/Article/mdjs/496.html
[37]梁利华.液压传动与电液伺服系统.哈尔滨：哈尔滨工程大学出版社,2005：1-5页
[38]王三民.机械原理与设计.北京：机械工业出版社,2000：156-157页
[39]杨恩霞.机械设计.哈尔滨：哈尔滨工程大学,2006：63-64,126页
[40]赵豫玉.穿戴式下肢康复机器人的研究.哈尔滨工程大学硕士论文.2009：44页
[41]www.sh-xinkuan.com
[42]尚昆,沈力行,赵改平.四连杆膝关节运动学性能仿真软件的实现.医用生物力学.2009,24(2)：107-110页
[43]Siegmer Blumentritt, Hans Werner.Design principles,biomechanical data and clinical experience with a polycentric knee offering controlled stance phase knee flexion:A preliminary report[J].J of Prosthetics and Orthotics,1997,9(1):18-24P
[44]薛定宇,陈阳泉.控制数学问题的MATLAB求解.北京：清华大学出版社,2007：254-261
[45]Radcliffe CW, DegM S, Professor M E. Biomechanics of Knee Stability Control with Four-Bar Prosthetic Knees. ISPO Australia Annual Meeting Melbourne, Australia,2003,11
[46]Four-Bar Knee Prosthesis Simulation Results For the Mechanical Linkage Configuration of the Ken Dall 800. Centre for Biomedical Engineering Dept of Electrical And Computer Systems Engineering of Monash University.2004.7
[47]Technical Report on the TGK-5PS(?)SLK, TGK-5PS(?) and the TGK-5(?)S(?) PC Knee Units. DAW Industries Department of Research and Development.2003
[48]王斌锐.异构双腿行走机器人研究与开发.东北大学博士学位论文.2005.2
[49]Saeed B.Niku著,孙春富等译.机器人学导论—分析、系统及应用.北京：电子工业出版社.2004：60-63页
[50]王岚,王婷,张劲松,张今瑜.人体步态规律测量分析与研究.哈尔滨工程大学学报.2008,29(6)：589-593页
[51]李庆扬,王能超,易大义.数值分析.武汉：华中科技大学出版社.1986：33-38页