%0 Journal Article
%T 外骨骼人-机系统摆动态平衡稳定性研究<br>Stability Study on Swing Phase balance of Exoskeleton Man-machine System
%A 刘宁宁
%A 宋遒志
%A 王晓光
%J 机械科学与技术
%D 2016
%X 为了实现外骨骼机器人人-机系统在行走过程中能够更好地维持平衡稳定，通过建立连杆模型，对外骨骼人-机系统行走动态过程中的重心位置、动能、势能和关节力矩的变化规律进行分析，提出了一种外骨骼人-机系统摆动态平衡稳定性判据，即单腿支撑摆动态采用能量分析原理平衡稳定性判据。利用Adams软件对不同负重下的外骨骼人-机系统模型进行动态仿真分析，其结果验证了该稳定性判据的准确性。外骨骼机人-机系统平衡稳定性研究还为进一步对人-机同步行走及其他步态平衡控制性研究提供参考依据。<br>In order to achieve the better stability balance of exoskeleton robot man-machine system in the walking process, a method is presented that the single leg support in swing phase adopting the energy analysis theory, establishing the connecting rod model and analyzing the center of gravity position, kinetic energy, potential energy and the changing rule of the joint torque of the exoskeleton man-machine system. Using the Adams software simulation to analyze the exoskeleton man-machine system under different load models, the results of the simulation suggest that the stability method is accurate. The stability study on the exoskeleton man-machine system can also provide the reference for the exoskeleton man-machine synchronization and other walking gaits stability balance control
%K 外骨骼
%K 稳定性
%K 能量
%K 仿真&lt
%K br&gt
%K exoskeleton
%K stability
%K energy
%K simulation
%U http://journals.nwpu.edu.cn/jxkxyjs/CN/abstract/abstract6465.shtml