步态训练机器人人机系统动力学仿真

摘要

Based on MATLAB the man-machine system dynamics simulation of a six-degree-of-freedom robot for gait training was completed by applying the Newton-Euler method. The kinematics constraint equations and dynamics equations of the robot were given, and the constrained matrix equation (CME) of it was constituted. Gait characteristics of people walking on the flat ground were analyzed. Combined with the pressure model of people walking on the flat ground, with the MAT-LAB toolbox, the dynamics simulation model of the man-machine system was established, and the simulation analysis of the robot' s tracking of the gait of people walking on the flat ground was carried out. The simulation results verified that the robot has good adaptability to the biped load of people, and the dynamics parameters of the robot can be conveniently acquired,so the study provides theoretical bases for achieving the robot control and performance improvement.%基于MATLAB对6自由度步态训练机器人的人机系统进行了动力学仿真研究.应用Newton-Euler法,推导了机器人的运动约束方程和动力学方程,构成了机器人的约束矩阵方程(constrained matrix equation,CME);分析了正常人在平地行走时的步态特征,并给出了人在行走时双足对地面的压力模型,利用MATLAB工具箱建立了人机系统动力学仿真模型,并对机器人跟踪人在平地行走的步态轨迹进行了仿真分析.仿真结果表明,步态训练机器人对人的双足负载具有良好的适应能力,可以方便获取机器人的动力学参数.该研究为实现机器人的控制及性能改进提供了理论依据.