“外骨骼”液压伺服系统物理模拟及仿真

Physical Modeling and Simulation of Hydraulic Servo System about "Exoskeleton"

根据外骨骼机器人的运动特点设计了液压驱动系统,利用功率键合图和传递函数建模法建立机器人处于支撑相前期运动的模型,用MATLAB软件对系统的压力和速度仿真,由仿真结果证明了所设计液压系统的合理性。

Aencies of exoskeleton were designed according to kinesiology and the reasonable hydraulic drive system was designed according to the features of exoskeleton＇s movement.The hydraulic system models were built under the theory of building mixed model with power bond graph and transfer function when the robot was in a support position,the simulation of hydraulic cylinder＇s pressure,velocity,and acceleration were analysised by MATLAB software.The simulation results prove that the system designed is rationality and feasibility.