【作者】 包世萍；

【导师】 王岚；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2010， 硕士

【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。更多还原

【Abstract】 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.更多还原