负重型下肢外骨骼液压动力单元的研究

摘要

助力外骨骼是以人为控制主体,机械结构为动力主体,人机高度耦合的复杂力随动系统.为了实现助力外骨骼长时间稳定可靠运行的目的,必须解决其动力单元的部分问题.基于外骨骼系统整体结构,着重于助力外骨骼的液压动力单元部分的研究.介绍负重外骨骼机器人的工作原理及其液压系统的组成,对人体步态进行分析,研究液压动力单元并进行样机实验.结果表明,负重型下肢外骨骼系统采用阀控液压系统,能够满足在负载60 kg下完成人类基本的下肢运动动作,并且具有较好的人机耦合性.%The exoskeleton is a kind of complex control system, which is controlled by human body and driven by mechanical structure.Furthermore, the man-machine interaction system is highly coupled.In order to realize the stable and reliable operation of the exoskeleton for a long time, it is necessary to solve the problems of the power unit.This study focuses on the research of the exoskeleton hydraulic power unit.There are four main parts:the working principle of the hydraulic system, the load of the exoskeleton robot, the gait analysis of the hydraulic power unit and a prototype experiment.Based on the experimental results, it shows that the negative severe lower extremity exoskeleton system adopts throttling speed regulation system, and it can meet the load 60 kg to complete the basic human lower limb movement, as it has a good human-machine coupling.