期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

仿生膝关节虚拟样机与协同仿真方法研究 被引量：13

Virtual Prototype and Collaborative Simulation of Bionic Knee Joint
下载PDF
导出
摘要 设计用于仿人机器人的四连杆封闭链膝关节。以仿生膝关节研发为实例,提出用虚拟样机协同仿真进行系统仿真。研究用Pro/E,ADAMS和Simulink相联合的组织内部协同仿真方法。建立了四连杆仿生膝关节和机器人腿虚拟样机,并详细给出异构层次化模型协作方法和迭代学习控制协同仿真方法,进行了仿真实验。虚拟样机协同仿真方法面向多领域,可避免复杂的人工建模和求解过程,仿真逼真且接近实际系统,为四连杆仿生膝关节提供好的研究方法。 The polycentric closed-chain 4-bar joint controlled by rnagneto-rheo-logical （MR） damper was given and used as humanoid robot knee joint. To meet the requirements of bionic knee joint＇s development, the study method based on virtual prototype and collaborative simulation was proposed. Pro/E, ADAMS and MATLAB Simulink were integrated to be used as a united simulation platform for bionic knee joint＇s hybrid hierarchical modeling. Virtual prototype was built. Kinematics, dynamics and iterative learning control collaborative simulation methods were pointed and swing gait control simulation was done. Collaborative simulation can do multi-filed simulation, and avoids heavy works of manual modeling, and improves 4-bar bionic knee joint study.
作者 王斌锐 金英连 徐心和
机构地区 中国计量学院机电工程学院 东北大学人工智能与机器人研究所
出处 《系统仿真学报》 EI CAS CSCD 北大核心 2006年第6期1554-1557,共4页 Journal of System Simulation
基金 国家自然科学基金(60475036)
关键词 四连杆仿生膝关节 虚拟样机 协同仿真 迭代学习控制 4-bar bionic knee joint virtual prototype collaborative simulation iterative learning control
分类号 TP391.9 [自动化与计算机技术—计算机应用技术]
  • 相关文献

参考文献5

  • 1Miller V T. Hybrid Heterogeneous Hierarchical Model for System Simulation [J]. International Journal in Computer Simulation (S1055-8470). 1995, 5(3): 209-227.
  • 2贾长治,王兴贵,陈永才,解璞.基于ADAMS的装备故障仿真及评估研究[J].系统仿真学报,2001,13(6):781-784. 被引量：10
  • 3James W, Smart H. Technical Note: Beyond the Four-Bar Knee [J].Journal of Prosthetics and Orthotics (S1040-8800). 1998, 10(3): 77-80.
  • 4王斌锐,徐心和.智能仿生腿的研究[J].控制与决策,2004,19(2):121-127. 被引量：22
  • 5Arimoto S,Nguyen P T A, Naniwa T.e Larning of robot tasks on the basis of passivity and impedance concepts [J]. Robotics and Autonomous Systems (S0921-8890). 2000, 32(2-3): 79-87.

二级参考文献25

  • 1[3]Bloor M S, McKay A. Product and Shape Representation for Virtual Prototyping [A]. Book of Virtual Prototyping: Virtual environmentsand the product design process [M]. Chapman and Hall Press, 1995.
  • 2[1]Hale S A.The effect of walking speed on the joint displacement patterns and forces and moments acting on the above-knee amputee prosthetic leg[J].J of Prosthetics and Orthotics,1991,3(2):59-78.
  • 3[3]Geraldo R.An efficient low cost prosthetic structural system[J].J of Prosthetics and Orthotics,1989,1(2):86-91.
  • 4[5]D Datta, J Howitt.Conventional versus microchip controlled pneumatic swing phase control for trans-femoral amputees: User′s edict[J].Prosthetics and Orthotics Int,1998,22(1):129-135.
  • 5[6]A E Patla, D A Stacey.Artificial neural network model for the generation of muscle activation patterns for human locomotion[J].J of Electromyography and Kinesiology,2001,11(2):19-30.
  • 6[8]Robert F,James J.Mechanical and metabolic work of persons with lower-extremity amputations walking with titanium and stainless steel prostheses: A preliminary study[J].J of Prosthetics and Orthotics,1999,11(2):38-42.
  • 7[9]James W, Stuart H.Technical note: Beyond the four-bar knee[J].J of Prosthetics and Orthotics,1998,10(3):77-80.
  • 8[10]Steven A, Dudley S, Jack E.The influence of four-bar linkage knees on prosthetic swing-phase floor clearance[J].J of Prosthetics and Orthotics,1996,8(2):34-40.
  • 9[11]James W.Theory of integrated balance: The lower limb amputee[J].J of Prosthetics and Orthotics,1998,10(2):42-44.
  • 10[13]Hank White, Keith, Sam.Kinematic and kinetic data of two prosthetic designs: A case study[J].J of Prosthetics and Orthotics,2000,12(4):12.

共引文献30

同被引文献115

引证文献13

二级引证文献75

系统仿真学报
2006年 第6期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部