单作用缸驱动的负重外骨骼容积调速液压动力单元分析
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摘要
负重外骨骼动力单元为外骨骼工作提供动力,要求响应迅速,工作稳定,是整个外骨骼系统长时间稳定可靠工作的关键部分。设计了一种单作用缸驱动的负重外骨骼容积调速液压动力单元,结合人体走行步态对液压动力单元的作用机理进行了分析。为研究负重外骨骼单作用缸的负载组成,建立了负重外骨骼走行过程中支撑态时的动力学方程,为负重外骨骼油缸负载的加载提供了理论依据。为了准确模拟负重外骨骼油缸负载,使仿真结果更加可靠,在ADAMS建立负重外骨骼单腿模型,在AMEsim建立动力单元液压系统模型,通过AMEsim与ADAMS联合仿真对该液压动力单元进行了理论分析,结果表明设计的容积调速液压动力单元响应快,单作用缸运动稳定,能满足外骨骼的使用需求。
The power unit of weight-bearing exoskeleton provides power for exoskeleton,which performance should be good at rapid response and stable operation,and it is important to realize long-term,stable and reliable task. A volume speed-modulating hydraulic power unit was designed,which is driven by the single-acting cylinder,and the theories of this system were analyzed by combining the human walking gait. The dynamic equations during the support state were established to study the load composition of single-acting cylinders of the weight-bearing exoskeleton,which can provide the direction when it is need to load the force to the weight-bearing exoskeleton cylinder. The theoretical analysis of the hydraulic power unit was carried out through the co-simulation of AMEsim and ADAMS to get the accurate and reliable simulation results,which single-legged model of weight-bearing exoskeleton was established in ADAMS and the hydraulic unit model of power unit was established in AMEsim. The result shows that the volume speed-modulating hydraulic power unit responds quickly and the single-acting cylinder works stably,which meets the needs of the weight-bearing exoskeleton.
The power unit of weight-bearing exoskeleton provides power for exoskeleton,which performance should be good at rapid response and stable operation,and it is important to realize long-term,stable and reliable task. A volume speed-modulating hydraulic power unit was designed,which is driven by the single-acting cylinder,and the theories of this system were analyzed by combining the human walking gait. The dynamic equations during the support state were established to study the load composition of single-acting cylinders of the weight-bearing exoskeleton,which can provide the direction when it is need to load the force to the weight-bearing exoskeleton cylinder. The theoretical analysis of the hydraulic power unit was carried out through the co-simulation of AMEsim and ADAMS to get the accurate and reliable simulation results,which single-legged model of weight-bearing exoskeleton was established in ADAMS and the hydraulic unit model of power unit was established in AMEsim. The result shows that the volume speed-modulating hydraulic power unit responds quickly and the single-acting cylinder works stably,which meets the needs of the weight-bearing exoskeleton.
引文
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13王东海.基于行走步态的被动式重力支撑柔性下肢外骨骼系统[D].杭州:浙江大学,2016Wang Donghai.A passive gait based weight support compliant lower extremity exoskeleton[D].Hangzhou:Zhejiang University,2016
14 Riener R,Rabuffetti M,Frigo C.Stair ascent and descent at different inclinations[J].Gait&Posture,2002,15(1):32-44
15 Wang D,Lee K M,Ji J.A passive gait-based weight support lower extremity exoskeleton with compliant joints[J].IEEE Transactions on Robotics,2016,32(4):933-942
16黄梓亮,方晨昊,欧阳小平,等.基于多信息融合的下肢外骨骼机器人感知系统研究[J].工程设计学报,2018,25(2):159-166Huang Ziliang,Fang Chenhao,Ouyang Xiaoping,et al.Research on the sensing system of lower limb exoskeleton robot based on multiinformation fusion[J].Chinese Journal of Engineering Design,2018,25(2):159-166
17 Han B L,Shicai S I,Luo Q S,et al.Co-simulation of a quadruped robot's mechanical and hydraulic systems based on ADAMS and AMESim[J].Journal of Beijing Institute of Technology,2016,25(2):218-224
2 Steger R,Kim S H,Kazerooni H.Control scheme and networked control architecture for the Bberkeley Lower Extremity Exoskeleton(BLEEX)[C].IEEE International Conference on Robotics and Automation.New York:IEEE,2006:3469-3476
3 Zoss A B,Kazerooni H,Chu A.Biomechanical design of the Berkeley Lower Extremity Exoskeleton(BLEEX)[J].IEEE/ASME Transactions on Mechatronics,2006,11(2):128-138
4曹志刚.下肢外骨骼助力机器人的随动控制研究[D].合肥:合肥工业大学,2017Cao Zhigang.The study on servo control research for the lower limb power assist exoskeleton robot[D].Hefei:Hefei University of Technology,2017
5 Rajasekaran V,Aranda J,Casals A,et al.An adaptive control strategy for postural stability using a wearable robot[J].Robotics&Autonomous Systems,2015,73(C):16-23
6 Jiménezfabián R,Verlinden O.Review of control algorithms for robotic ankle systems in lower-limb orthoses,prostheses,and exoskeletons[J].Medical Engineering&Physics,2012,34(4):397-408
7 Yamamoto K,Hyodo K,Ishii M,et al.Development of power assisting suit for assisting nurse labor[J].Transactions of the Japan Society of Mechanical Engineers:Series C,2001,67(657):1499-1506
8周加永,张昂,莫新民,等.液压驱动型负重外骨骼机器人液压系统设计[J].机床与液压,2016,44(21):30-34Zhou Jiayong,Zhang Ang,Mo Xinmin,et al.Hydraulic system design of hydraulic driven load exoskeleton robot[J].Machine Tool&Hydraulics,2016,44(21):30-34
9郭庆,张向刚,朱家元,等.下肢外骨骼液压控制系统仿真与性能试验[J].计算机仿真,2012,29(11):231-234Guo Qing,Zhang Xianggang,Zhu Jiayuan,et al.Hydraulic pressure control system simulation and performance test of lower extremity exoskeleton[J].Computer Simulation,2012,29(11):231-234
10刘超群,王海波,吴元科.基于ANSYS的助力外骨骼液压动力单元热分析[J].机械强度,2017,39(2):484-488Liu Chaoqun,Wang Haibo,Wu Yuanke.Thermal analysis of exoskeleton hydraulic power unit based on ANSYS[J].Journal of Mechanical Strength,2017,39(2):484-488
11刘新钊,刘军营,刘军,等.基于AMESim的容积调速系统仿真分析[J].山东理工大学学报(自然科学版),2012,26(2):61-64Liu Xinzhao,Liu Junying,Liu Jun,et al.Simulation analysis of positive displacement regulating speed system based on AMEsim[J].Journal of Shandong University of Technology(Natural Science Edition),2012,26(2):61-64
12刘磊,杨鹏,刘作军.基于多源信息和粒子群优化算法的下肢运动模式识别[J].浙江大学学报(工学版),2015,49(3):439-447Liu Lei,Yang Peng,Liu Zuojun.Lower limb locomotion-mode identification based on multi-source information and particle swarm optimization algorithm[J].Journal of Zhejiang University(Engineering Science),2015,49(3):439-447
13王东海.基于行走步态的被动式重力支撑柔性下肢外骨骼系统[D].杭州:浙江大学,2016Wang Donghai.A passive gait based weight support compliant lower extremity exoskeleton[D].Hangzhou:Zhejiang University,2016
14 Riener R,Rabuffetti M,Frigo C.Stair ascent and descent at different inclinations[J].Gait&Posture,2002,15(1):32-44
15 Wang D,Lee K M,Ji J.A passive gait-based weight support lower extremity exoskeleton with compliant joints[J].IEEE Transactions on Robotics,2016,32(4):933-942
16黄梓亮,方晨昊,欧阳小平,等.基于多信息融合的下肢外骨骼机器人感知系统研究[J].工程设计学报,2018,25(2):159-166Huang Ziliang,Fang Chenhao,Ouyang Xiaoping,et al.Research on the sensing system of lower limb exoskeleton robot based on multiinformation fusion[J].Chinese Journal of Engineering Design,2018,25(2):159-166
17 Han B L,Shicai S I,Luo Q S,et al.Co-simulation of a quadruped robot's mechanical and hydraulic systems based on ADAMS and AMESim[J].Journal of Beijing Institute of Technology,2016,25(2):218-224