Research On The Servo-augmentation Technology(SAT) And Experimental Platform Development Of Exoskeleton Robot

Wearable assisted exoskeleton robot is a kind of human-machine co-fusion robot,can be in collaboration with people,automatic perception of human motion intention,the application of adaptive intelligent Follow-up control method,with the implementation of the body carrying the external load,to help the human body to reduce the weight of the energy consumed in the process,so as to achieve the effect of booster.Aiming at the concrete scene of rescue in disaster by the actual human social activities,this paper explores and develops an experimental platform for wearable assisted exoskeleton robot for rescue.In this process,the core problem of the exoskeleton robot is studied,the basic theory of the exoskeleton robot is researched,and an experimental platform of electro-hydraulic hybrid assisted exoskeleton is developed,which lays a theoretical foundation for further realizing the product and practicality of the exoskeleton robot.A systematic system of Servo Augmentation Technology(SAT)technology method is proposed.In the first chapter,it explains the significance of the research,points out that China is a country with frequent natural disasters,and it is of great practical significance to use the opportunity of the boom of the robot industry to research and develop rescue aid for the exoskeleton robot and help the human rescue and relief.Then the most outstanding research achievements in the field of exoskeleton robot were introduced,and the advantages and shortages were analyzed.Subsequently,the key technologies related to exoskeleton were introduced.At last,the research contents of this paper are presented,and the biomechanical and dynamic analysis of exoskeleton robot,the kinematics modeling of external skeleton based on Lie group theory,and the servo-assisted control of exoskeleton robot are put forward.Three basic theories of this paper,it is also one of the important contents of this research to build a complete set of electro-hydraulic mixed bionic rescue and exoskeleton robot experiment platform.Finally,the paper puts forward the research and development of the specific technical program.In chapter two,the biomechanical characteristics of human body and its related exoskeleton robot dynamics and flexible joint control are analyzed comprehensively and deeply,and the related SAT results are of great theoretical significance to guide the design of exoskeleton robot.Firstly,this paper analyzes the skeleton distribution of human body according to the anatomy,and puts forward the freedom model of human body and the structure of space coordinate system by using the principle of robotics,and discusses the characteristics of human joints.Finally,the theory of biomechanics and robotics was applied to analyze the dynamics of skeleton robot,including the calculation of the power of the hydraulic exoskeleton,the model and simulation experiment of the seven-leg dynamics of lower limb were carried out,and the results were compared with the CGA experimental data,and the joint model of the flexible exoskeleton robot was established,and the simulation experiment of trajectory tracking control was carried out.In the third chapter,the Lie group Lie algebraic Screw theory in the SAT system is used to study the kinematics modeling and fast calculation of humanoid exoskeleton robots with complex degrees of freedom.The joint axes of the exoskeleton robot need to be more smoothly blended with the human joint axes,the geometry is more complex,the intelligence is higher,the function and performance requirements are more abundant.Faced with such challenges,this paper completely deviates from the traditional robotics framework,and attempts to solve the problems encountered by assisted exoskeleton robots by using Lie group Lie algebra and Screw theory in modern robotics.Taking the geometric description as the basic platform,the rigid body motion of the exoskeleton robot is ed into the SE(3)mathematical model of the rigid body motion group,and the geometric characteristics and mathematical description methods of SE(3)are studied.In this paper,we use the Lie group Lie algebra to derive the kinematics equation of the upper extremity series six-articular exoskeleton robot,and use the Screw theory to verify the proposed inverse kinematics solution algorithm for exoskeleton robot based on Lie group Lie algebra and spin theory.Compared with the traditional D-H parameter method,the description of the kinematics model is more compact,and the overall inverse kinematics problem is decomposed into several kinds of inverse kinematics problems to solve the problem.The solution process is more concise and the physical meaning is clearer..In the fourth chapter,according to the human activity scene in the actual rescue and disaster relief,using the SAT theory of exoskeleton robot,this paper designs and processes the mechanical hydraulic system,the electric and the control software system of the exoskeleton robot.This experiment platform verifies the principle and practical effect of the exoskeleton robot.In fifth chapter,the trajectory tracking control of single articular exoskeleton is studied by sliding mode variable structure method.Then,using the deep learning methods such as CNN convolutional neural network and RNN cyclic neural network,the human gait recognition and motion intention prediction are studied.Then,the theoretical method of using six-D force sensor to identify the human motion intention is studied.The method transforms the force between human and machine into moving displacement and velocity,and transforms the angle of each joint by inverse kinematics of the robot.Finally,the paper studies the method of servo augamentation technology(SAT),verifies the feasibility of the theoretical model through the human-computer interaction,and realizes the purpose of the ZRRC-Exbot power assited exoskeleton following the human motion intention.The sixth chapter summarizes the SAT of full text.In this paper,Rescue assisted exoskeleton robot as the research object,in order to achieve wearable flexible exoskeleton system,the subj ect of research is based on the engineering,basic theory,innovative and systematic expansion.This chapter focuses on the innovation of this study,and the future research work is prospected.