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| 可穿戴型助力机器人动力学分析与仿真 | |
| 引用本文： | 陈峰,卞丽琴,吴宝元. 可穿戴型助力机器人动力学分析与仿真[J]. 实验科学与技术, 2009, 7(1): 30-33,130 |
| 作者姓名： | 陈峰 卞丽琴 吴宝元 |
| 作者单位： | 1. 南通大学电气工程学院,江苏,南通,226019;中国科学院合肥智能机械研究所,合肥,230031 2. 南通大学电气工程学院,江苏,南通,226019 3. 中国科学院合肥智能机械研究所,合肥,230031 |
| 基金项目： | 国家自然科学基金，南通大学校级项目 |
| 摘 要： | 利用拉格朗日方程及ADMS仿真软件对可穿戴型助力机器人进行了动力学分析与仿真。助力外骨骼是一个复杂的动力系统，由多个关节和多个连杆组成，具有多个输入和多个输出，助力机器人动力学是分析其运动和作用力之间的关系，仿真结果可用于选择适当尺寸的传动机构、电机转矩及是否需要重新设计机械结构。 |
| 关 键 词： | 助力机器人 动力学 拉格朗日方程 |
Dynamics Analysis and Simulation of the Wearable Power Assistance Robot |
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| CHEN Feng,BIN Li-qin,WU Bao-yuan. Dynamics Analysis and Simulation of the Wearable Power Assistance Robot[J]. Experiment Science & Technology, 2009, 7(1): 30-33,130 | |
| Authors: | CHEN Feng BIN Li-qin WU Bao-yuan |
| Affiliation: | 1. School of Electricity Engineering, Nantong University, Nantong 226019, China; 2. Institute of Intelligent Machines, CAS, Hefei 230031, China) |
| Abstract: | This paper provides the dynamics anlysis and simulation of the wearable power assistance robot based on Lagrange equation and ADMS. Power assistance exoskeleton is a complicated dynamical system composed of many joints and links, and it is a MIMO. Power assistance robot dynamics analyzes the relationship between its movement-and force , and the results of simulation can be used to select proper size of transmission machine, motor torque and decide whether the structure needs to redesign. |
| Keywords: | power assistance robot dynamics Lagrange equation |
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