智能下肢助力装置虚拟样机的联合仿真

Co-simulation of Intelligent Lower Limb Assist Device Virtual Prototype

尝试建立一种全新的智能助力装置虚拟样机模型,旨为提高下肢助力装置设计的效率与可靠性。将CATIA建立的机械模型导入ADAMS建立装置的三维虚拟样机模型,对助力装置的运动学及动力学进行了仿真验证,将虚拟样机模型与MATLAB/simulink结合,对助力装置动力学方程及搭建的控制系统进行联合仿真。根据人体的步态数据,采用PID控制算法对下肢助力系统进行控制。仿真结果表明,下肢助力控制系统有较好的动态响应特性和轨迹跟踪能力。研究结果能及时发现装置存在的缺点与不足,为助力装置样机研制和电机选型提供了参考,也为实现装置的助力提供了重要的理论依据。

A virtual prototype model of power assist device for lower extremity was established to improve the efficiency and reliability of the power assist device design.The mechanical model using software CATIA was introduced to ADAMS to establish the virtual model,so as to carry out the kinematics and dynamics simulations,and combined the previous model established by ADAMS with the control model established in MATLAB/Simulink to realize the co-simulation of the system.According to the characteristics of human gait data,PID control algorithm was used to control lower limb power system.The simulation results demonstrate that the control system has a good response characteristic and a good ability of trajectory tracking,nevertheless,the result discovers the shortcomings and deficiencies of the devices,and provides a reference for the design and the selection of the motor of the power equipment,what is more,and it provides an important theoretical basis for studying of assist robot.