助老机器人伴行模态人机耦合系统的耐冲击振动特性分析

Impact vibration resistance characteristics of a human-robot couple system for controlling the walking posture of an elderly-assistant robot

由于助老机器人在户外辅助老年人行走过程中会遇到路面不平冲击或其它瞬时冲击,不仅会对助老机器人本身产生冲击振动影响,还会引起由此带来老年人手部的局部振动。为了研究助老机器人人机耦合系统的耐冲击性,对助老机器人人机耦合系统振动特性进行了较深入的分析。①分析了助老机器人的前、后轮在不同作用输入下的强迫振动,分别建立了助老机器人系统和老年人人体系统的振动模型;②建立了助老机器人人机耦合系统的振动模型;③采用Matlab/Simulink软件分别从地面不平冲击和瞬时冲击两类情况对助老机器人人机耦合系统的耐冲击振动特性进行了振动模型仿真分析。结果表明:两类情况下老年人手部的振动幅值、振动最大速率和助老机器人把手的振动幅值、振动最大加速度以及最大耦合作用力均较小,助老机器人人机耦合系统的耐冲击性较好。其研究过程为分析对防摔控制和人手舒适度调节控制的影响提供了理论基础。

The uneven road or instantaneous impact is often encountered in the process of assisting elders to walk outdoors using the elderly-assistant robot,which not only gives the robot impact vibration,but also imparts segmental vibration on the elder’s hands.The vibration characteristics of the human-robot couple system was inspected in order to study the impact resistance of the system.The forced vibration of the front and rear wheels of the robot under different displacement input was analyzed and the vibration models of the human body and the robot were established respectively.Then,the vibration model of the human-robot couple system was synthesized.The Matlab/Simulink software was used to simulate the vibration of the human-robot,system in the condition of instantaneous impact and uneven road respectively.The results show that the vibration amplitude and maximum velocity on the elder’s,hands,the vibration amplitude and maximum acceleration of the handles of the robot and the coupling force are all small under the two conditions,which indicates the human-robot couple system has a good impact resistance.The study provides a theoretical basis for the analysis and suggestions on the control of preventing the elder’s throwing down and adjusting his hand comfort.