下肢外骨骼助力机器人关节驱动设计及试验分析

doi:10.3901/JME.2019.23.055

机械工程学报 ›› 2019, Vol. 55 ›› Issue (23): 55-66.doi: 10.3901/JME.2019.23.055

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下肢外骨骼助力机器人关节驱动设计及试验分析

汪步云^1,2,3, 王月朋¹, 梁艺^1,2,3, 汪志红², 季景², 许德章^1,2,3

1. 安徽工程大学机械与汽车工程学院芜湖 241000;
2. 芜湖安普机器人产业技术研究院研发部芜湖 241007;
3. 高端装备先进感知与智能控制教育部重点实验室芜湖 241000

收稿日期:2019-01-30 修回日期:2019-08-30 出版日期:2019-12-05 发布日期:2020-02-18
通讯作者: 许徳章(通信作者),男,1964年出生,博士,教授,硕士研究生导师。主要研究方向为机器人信息感知、服务机器人与特种机器人。E-mail:dzx@ahpu.edu.cn
作者简介:汪步云,男,1984年出生,博士,讲师。主要研究方向为机器人信息感知与人机交互。E-mail:ayun@ahpu.edu.cn
基金资助:
国家自然科学基金（61741101）、安徽省自然科学基金（1608085QF154）、安徽省科技攻关（1604a0902125）、安徽省重点研发计划（1804a09020036）、安徽省高校科学研究重大项目（KJ2018ZD014）、安徽工程大学创新团队、安徽工程大学人才科研启动基金（2017YQQ008）和芜湖市科技计划项目（2018yf55）资助项目。

Design on Articular Motion & Servo Driving with Experimental Analysis for Lower Limb Exoskeleton Robot

WANG Buyun^1,2,3, WANG Yuepeng¹, LIANG Yi^1,2,3, WANG Zhihong², JI Jing², XU Dezhang^1,2,3

1. School of Mechanical and Automotive Engineering, Anhui Polytechnic University, Wuhu 241000;
2. Institute of Technology Robotics Industry, Anhui Polytechnic University, Wuhu 241007;
3. Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, Wuhu 241000

Received:2019-01-30 Revised:2019-08-30 Online:2019-12-05 Published:2020-02-18

摘要/Abstract

摘要： 针对人体下肢关节特点与助行要求，设计了外骨骼机器人关节结构；通过ADAMS软件仿真，分析了外骨骼机器人水平助行过程中关节功率配置需求，根据关节需求设计了外骨骼电液伺服驱动系统；为满足外骨骼机器人对人体下肢关节助力及柔顺性要求，提出了基于关节误差估计的PID控制方法。详细介绍了外骨骼机器人下肢关节结构的运动形式与技术参数，优化配置了关节结构的运动范围与驱动行程，对该机器人进行了运动学分析并通过外骨骼的典型动作进行验证；划分了外骨骼助行过程中步态与关节驱动映射，给出误差估计与补偿PID控制的具体参数；分别从关节跟踪与助力功率的角度，量化分析、对比了基于关节误差估计与常规PID两种控制方法的助力指标参数。试验结果表明，所设计外骨骼关节与驱动系统可实现穿戴者助力行走；对比常规PID控制，抑制了关节驱动控制输出区间的不连续，改善了关节跟踪误差，提升了助力效果与柔顺性。

关键词: 外骨骼机器人, 助行控制, 关节运动, 电液伺服驱动, 误差估计

Abstract: According to the characteristics of human lower limb and requirements of joint motion for level walking, the mechanical structures were designed on exoskeleton robot. The simulation on power of joints during requirements of level walking were analyzed and simulated with ADAMS software, and electro-hydraulic driving was designed on exoskeleton joints for locomotion. A PID control method based on joint error estimation was proposed to meet the requirements of joints assistance and flexibility for human lower limb. The locomotion parameters of joints structure are introduced in detail, for which motion range and driving stroke of the exoskeleton robot are optimized. The kinematics of the robot was analyzed and verified by typical actions of the exoskeleton. The mapping of gait and joint driving in the process of exoskeleton walking is divided, and the PID control with error estimation and compensation are given. From the perspective of joint tracking and power, index parameters of two control methods based on joint error estimation and conventional PID are analyzed and compared quantitatively. Finally, experimental results show that the designed joints and driving system of exoskeleton could have a great affection on power assistant for wearer. Compared with common PID control, the discontinuity of joint driving control output interval is suppressed, the joint tracking error is improved and power walking is much more compliant.

Key words: exoskeleton robot, power assisted control, joint motion, electro-hydraulic driving, error estimation

中图分类号:

TP242

汪步云, 王月朋, 梁艺, 汪志红, 季景, 许德章. 下肢外骨骼助力机器人关节驱动设计及试验分析[J]. 机械工程学报, 2019, 55(23): 55-66.

WANG Buyun, WANG Yuepeng, LIANG Yi, WANG Zhihong, JI Jing, XU Dezhang. Design on Articular Motion & Servo Driving with Experimental Analysis for Lower Limb Exoskeleton Robot[J]. Journal of Mechanical Engineering, 2019, 55(23): 55-66.

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下肢外骨骼助力机器人关节驱动设计及试验分析

Design on Articular Motion & Servo Driving with Experimental Analysis for Lower Limb Exoskeleton Robot

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