基于Simmechanics仿人机器人下肢的能耗分析

Energy Consumption Analysis of Humanoid Robot Lower Limb Based on Simmechanics

在对下肢动力学分析的基础上,建立符合人体运动特点的仿人机器人下肢模型,根据人体动力学方程,在机械仿真模块中建模。利用惯性动作捕捉系统和数据采集软件对人体下肢关节角度信号进行采集。基于仿真模型进行能量流动特性研究和行走能量效率计算。通过比较仿真测得的生物力学信息与计算值的吻合程度验证模型的合理性,建立能量流动方程,实现高效行走步态分析。建立的仿真模型和能量流动方程能够为设计高性能的仿人机器人提供借鉴。

Based on the analysis of the dynamics of the lower limb, a humanoid robot lower limb simulation model is established, which can provide a theoretical basis for humanoid robot research. According to the human dynamics equation, a simulation model is established based on Simmechanics. The joint angle signal of lower limb is collected by Xsens MVN and MVN Studio. Based on the simulation model, the energy flow characteristics and the cost of transport are calculated. By comparing the simulated biomechanical information with the calculated value, the rationality of the model is verified, and the energy flow equation is established to realize the efficient gait analysis. The simulation model and energy flow equation can provide reference for the design of high-performance humanoid robot.