人机携行外骨骼系统行走过程动力学分析

为研究人机携行外骨骼系统行走过程中各关节的力矩,以人机携行外骨骼系统为研究对象,对负重行走过程进行动力学分析,用光学捕捉系统采集人机携行外骨骼系统负重30 kg,不同行走速度下的试验数据.以SINESQR函数为基函数,通过MATLAB平台对试验数据进行拟合,得到各特征角的运动方程.利用达朗贝尔原理建立各关节的力矩方程,通过MATLAB平台进行分析计算,得到在负重30 kg,行走速度为3、4.8、6 km/h下各关节力矩随时间的变化.研究结果为后续人机携行外骨骼系统质心平衡研究提供了理论基础.

Dynamics Research on Walking Process of Human-machine Portable Exoskeleton System

In order to study the moment of each joint during man-machine carrying exoskeleton system walking, taking man-machine carrying exoskeleton system as the research object, the dynamic analysis of weight-bearing walking process was carried out, and the optical capture system was used to collect the test data of man-machine carrying exoskeleton system with a load of 30kg and at different walking speeds. Taking SINESQR function as the basis function and using MATLAB platform to fit the test data, the motion equations of each characteristic Angle are obtained. D ''Alembert''s principle was used to establish the moment equation of each joint, and MATLAB platform was used for analysis and calculation. The variation of the moment of each joint with time was obtained under a load of 30kg and a walking speed of 3km/h, 4.8km/h and 6km/h. It provides a theoretical basis for the subsequent research on the centroid balance of the human-machine exoskeleton.