| 伊 蕾,张立勋,于彦春.六连杆助行机构的动力学分析及仿真研究[J].中国康复医学杂志,2010,25(7):662~666 |
| 六连杆助行机构的动力学分析及仿真研究 点此下载全文 |
| 伊 蕾 张立勋 于彦春 |
| 哈尔滨工程大学机电工程学院，哈尔滨，150001 |
| 基金项目：863项目(2008AA040203） |
| DOI： |
| 摘要点击次数: 2161 |
| 全文下载次数: 1847 |
| 摘要： |
| 摘要
目的：研究六连杆助行机构帮助老年人及偏瘫患者行走过程中人机系统的动力学特性，为选择不同的行走训练模式提供理论依据。
方法：用闭环矢量法建立机构运动学方程，基于动力学矩阵数学模型及拉格朗日方程建立人机系统的动力学方程，并根据人体特征参数及机构参数，通过MATLAB软件对助行过程中系统的动力学特性进行仿真分析。
结果：仿真结果验证了动力学模型的正确性，分析了被动运动时约束力作用点的选择对人机间作用力及机构驱动力矩的影响。
结论：动力学模型为人机作用点的选择、不同行走训练模式的制定及相应控制方式的选择提供了理论依据。 |
| 关键词：助行机构 人体下肢 动力学模型 仿真 |
| Dynamic analysis and simulation study on six-bar linkage walking assistance mechanism Download Fulltext |
|
| College of Mechanical and Electrical Engineering, Harbin Engineering University,Harbin,150001 |
| Fund Project: |
| Abstract: |
| Abstract
Objective: To analyze the dynamic characteristics of man-machine system during the aged and the patients with hemiplegia using the six-bar linkage walking assistance mechanism, and provide the theory for choosing different walking training modes.
Method: Kinematics equations of mechanism were obtained using closed loop vector method, and the dynamic equations of man-machine system were deduced using dynamic matrix formula and Lagrangian equation. The processing of aided walking was simulated using MATLAB tool based on human body parameters and mechanism parameters.
Result: The simulation study showed the correctness of dynamic modeling and the effect of driving torque when the binding forces were put on different positions of the mechanism during passive movement analyzing.
Conclusion: The dynamic model provides the theory basis for choosing binding force positions, the walking training mode and the control method. |
| Keywords:walking assistance mechanism human lower extremity dynamic model simulation |
|
| 查看全文 查看/发表评论 |
