Research On Dynamic Analysis And Control Of The Wearable Power Assist Robot

The wearable power assist robot (WPAR) is a popular research field in recent years, which represents a high integration of mechanism, robotics, ergonomics, control engineering, sensing technology, signal processing and etc. The WPAR belongs to exoskeleton robot category, combining the human and the robot into one integrated system and taking the advantages of the human's intelligence and the robot's physical power. So, it can accomplish the task which the human can't complete relying solely on his ability.This research is supported by the National Nature Science Foundation of China"Technology of the Wearable Intelligent Power Assist Robot"and the National 863 Project"Demonstration Platform of the Wearable Power Assist Robot for the Handicapped and Old", the main contents are as follows:1. By analyzing the characteristic of the lower limbs motion, based on the simplified 5-link model, the kinematics of the exoskeleton robot is analyzed and the dynamic model of the lower limb is built based on the support phase. Considering the non-rigid body effect and the influence of the viscidity friction and coulomb friction, to calculate the needed torque accurately, the dynamic model of the lower limb is modified. The kinematics and dynamics simulation is done with ADAMS software, also the coefficients of friction are gained by experiment.2. To meet the performance of the sensor for the robot, we calibrate the static and dynamic characteristics of the multi-axis force sensors which are used to identify the motion intention. The platform for information detection is also set up based on the PCI bus.3. Based on the previous work, we improve the prototype experiment system, and add an adjustable parameter to velocity-force control strategy aiming at the change of the angle position. To enhance the control compliance and the operator's comfort, we can adjust the PID parameters and the acceleration according to the load. The experimental results show that the effect of power assist is improved to some extent.The ultimate goal of this project is to expand function and activities of the human lower limb, and reduce muscle fatigue while walking. It has its potential application for medical rehabilitation equipment, man-military combat equipment, heavy manual work, environment-friendly transport device.