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基于人机耦合的下肢外骨骼动力学分析及仿真

张燕 李梵茹 李威 刘作军

张燕, 李梵茹, 李威, 刘作军. 基于人机耦合的下肢外骨骼动力学分析及仿真[J]. 应用数学和力学, 2019, 40(7): 780-790. doi: 10.21656/1000-0887.390212
引用本文: 张燕, 李梵茹, 李威, 刘作军. 基于人机耦合的下肢外骨骼动力学分析及仿真[J]. 应用数学和力学, 2019, 40(7): 780-790. doi: 10.21656/1000-0887.390212
ZHANG Yan, LI Fanru, LI Wei, LIU Zuojun. Dynamic Analysis and Simulation of the Lower Extremity Exoskeleton Based on Human-Machine Interaction[J]. Applied Mathematics and Mechanics, 2019, 40(7): 780-790. doi: 10.21656/1000-0887.390212
Citation: ZHANG Yan, LI Fanru, LI Wei, LIU Zuojun. Dynamic Analysis and Simulation of the Lower Extremity Exoskeleton Based on Human-Machine Interaction[J]. Applied Mathematics and Mechanics, 2019, 40(7): 780-790. doi: 10.21656/1000-0887.390212

基于人机耦合的下肢外骨骼动力学分析及仿真

doi: 10.21656/1000-0887.390212
基金项目: 国家自然科学基金(61773151;61703135);河北省自然科学基金(F2018202279)
详细信息
    作者简介:

    张燕(1975—),女,教授,博士(通讯作者. E-mail: lfr024wzw@163.com).

  • 中图分类号: TP24

Dynamic Analysis and Simulation of the Lower Extremity Exoskeleton Based on Human-Machine Interaction

Funds: The National Natural Science Foundation of China(61773151;61703135)
  • 摘要: 建立了一种包含人机交互力的人体-外骨骼模型,对人体和外骨骼分别采用7连杆的刚体模型进行建模,建立其D-H坐标系,得到人机模型在运动过程中的变化矢量.采用Newton-Euler方程建立动力学方程式,将人机之间的交互力简化为弹力,根据运动中人体和外骨骼质心之间的距离变化得到其相对位移,从而求得运动过程中交互力的大小.最终在ADAMS(automatic dynamic analysis of mechanical system)仿真软件中对动力学模型进行仿真,并将动力学方程得到的关节力矩代入到仿真中,验证了该人体-外骨骼模型的正确性.
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出版历程
  • 收稿日期:  2018-08-03
  • 修回日期:  2019-05-23
  • 刊出日期:  2019-07-01

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