双下肢控制平台的设计与研究

Design and desearch of control platform of double lower limbs

为了测试假肢的性能,本文设计了下肢运动平台,平台的主要构成部分是四个直流电机,4个伺服驱动器,一个控制板卡和一台电脑.根据仿生学将他们连接起来,并以固高控制卡为控制核心,以髋关节和膝关节的角度信号作为下肢平台的运动控制信号,在VC环境下编程控制电机,通过四轴同步刷新的方法控制平台运动,使平台在运动过程中比之前更加协调.

In order to test the performance of the intelligent prosthesis, in the thesis we design the lower limb control platform. Platform mainly contains four dc motor , four our servo driver , a control interface card and a computer. According to the principle of bionics, To GOOGOL control card as the core. This paper combines them together. This paper put knee joint angle and hip joint angle as control signals of lower limb control platform. In the VC environment, To platform input data, Through the methods of four axis synchronous refresh control platform motion, in athletic process , the athletic of The platform is more harmonious than befor.