| 外骨骼机器人处于摆动相后期系统模型仿真 |
| |
| 引用本文： | 罗璇,肖美芳,杨文龙,吴富姬,李建.外骨骼机器人处于摆动相后期系统模型仿真[J].机床与液压,2017,45(3):99-102. |
| |
| 作者姓名： | 罗璇 肖美芳 杨文龙 吴富姬 李建 |
| |
| 作者单位： | 1. 赣州有色冶金研究所,江西赣州,341000;2. 赣南医学院,江西赣州,341000 |
| |
| 摘 要： | 结合人体解剖学对外骨骼机械人下肢运动进行分析,主要阐述外骨骼处在摆动相后期的运动,根据功率键合图和传递函数混合进行建模,利用SIMULINK对液压缸的压力、速度、加速度和阀芯位移进行仿真,通过仿真结果来验证系统运动的合理性。
|
| 关 键 词： | 外骨骼 摆动相后期 液压系统 键合图 |
Simulation of System Model of Exoskeleton Robot in Late Swing Phase |
| |
| LUO Xuan,XIAO Meifang,YANG Wenlong,WU Fuji,LI Jian.Simulation of System Model of Exoskeleton Robot in Late Swing Phase[J].Machine Tool & Hydraulics,2017,45(3):99-102. |
| |
| Authors: | LUO Xuan XIAO Meifang YANG Wenlong WU Fuji LI Jian |
| |
| Abstract: | Analysis was carried out by combined with human anatomy external skeletal robots motion of lower limb.Exoskeleton in swinging movement in the late phase was mainly expounded.According to the power bond graph and the transfer function of hybrid modeling, hydraulic cylinder pressure, velocity, acceleration and the valve core displacement were simulated by using SIMULINK.The simulation results verify the rationality of the system movement. |
| |
| Keywords: | Exoskeleton Late swing phase Hydraulic system Bond graph |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
| 点击此处可从《机床与液压》浏览原始摘要信息 |
|
点击此处可从《机床与液压》下载全文 |
|
