直线电机外骨骼被动元件参数最优匹配方法

Method for optimizing the param-pattern of passive elements in the energy-efficient actuators of exoskeletons driven by linear motors

外骨骼机器人的能耗和续航时间是决定其能否走向实用化的关键性能指标之一,为了选择最优的被动元件参数匹配使外骨骼驱动关节的能耗达到最优,本文提出一种被动元件的参数最优匹配方法。本文提出了被动元件参数最优匹配的优化目标和约束条件,利用基于卡尔曼滤波的改进遗传算法求解最优的被动元件参数,实验结果表明利用该方法能够显著降低直线电机外骨骼驱动关节的能耗。

The energy consumption and duration of flight are key performance indexes used to determine the feasibility of using exoskeleton robots in practical applications. This work proposed a method for the optimization of the param-pattern of passive elements to reduce energy consumption by exoskeleton actuators. First, the object function and the constraint equation of the optimal param-pattern were proposed. Then, the optimal parameters of the passive element were identified by using an improved genetic algorithm based on the Kalman filtering algorithm. Experiments showed that this method can decrease energy consumption by exoskeleton actuators driven by linear motors.