人机携行外骨骼双腿交替多相行走建模与仿真

Modeling and Simulation of Alternating Multiphase Walking with Two Legs on Human-machine Carrying Exoskeleton

为了研究人机携行外骨骼行走过程中多相交替过程下运动学参数的变化规律,基于D-H坐标系对外骨骼建立运动学模型,运用Newton-Euler递归公式计算出行走过程中的运动学表达式。为实现外骨骼与人体的携行运动,通过位移姿态传感器对人体行走过程中各关节参数进行了测量与分析。基于西南交通大学第三代人机携行外骨骼为研究对象,在Adams环境中建立虚拟样机,以人体运动参数为驱动,对外骨骼进行运动学仿真,并以双腿多相交替过程为切入点,对仿真结果进行了分析。结果可为人机携行外骨骼驱动的测控系统提供可靠依据。

In order to study the variation law of kinematic parameters in the process of multi intersection and replacement in the process of human-machine carrying exoskeleton walking,a kinematic model of exoskele⁃ton is established based on D-H coordinate system,and the kinematic expression in the process of walking is calculated by Newton Euler recursive formula.In order to realize the carrying movement between exoskeleton and human body,the parameters of joints in the process of human walking are measured and analyzed by dis⁃placement attitude sensor.Based on the exoskeleton carried by the third generation human-machine of South⁃west Jiaotong University as research object,a virtual prototype is established in Adams environment,and a kine⁃matic simulation of exoskeleton driven by human motion parameters is carried out.Taking the process of multi leg replacement as the starting point,the simulation results are analyzed.The results can provide a reliable basis for the measurement and control system driven by human-machine exoskeleton.