Gait Movement Design And Control Study On Motion Of Exoskeleton Robot

Based on human beings' structure, exoskeleton robot is a mechanical-electrical integration system that including wearable machinery, power plant, and sensing device. Exoskeleton robot is designed to supply the wearer assistant power and improve people's load ability. Exoskeleton robot has a vast potential for future development, especially in the domain of military, medical, and business. The existing exoskeleton robots' walking gaits are not accord with human body motion very well, the control stability and accuracy are still not very well and the contradiction between the miniaturization and high-power of the joint is still unsolved. All the problems above limited the further development for exoskeleton robots, so there are great theory significance and practice value to take research for exoskeleton robot movement gait and control system. In this dissertation, the design optimization of exoskeleton robot and the problem of gait design, motion control and high performance drive are further studied, the main contents are as follows:(1)Exoskeleton robot's movement gait is researched to make it conform to human beings. Based on bionics, an information acquisition system based upon a variety of flexible exoskeleton robot multi-channel sensor is designed, the data about human lower body each joint angle and plantar pressure change when walking is obtained and human beings' gaits are researched. Based on kNN, human walking trajectory phases are distinguished which worked as design basis for robot's gait.(2)Based on the robot kinematics and dynamics, the control system is researched. Based on the inverted pendulum model exoskeleton robot kinematics is studied, forward movement of the robot left and right legs of each joint angle trajectory is obtained and the design of robot's structure is verified. Based on Newton-Euler's formula and Lagrange's equation exoskeleton robot dynamics is studied, the driving force of the joint data is obtained which supplies gist for drive devices' choosing, and robot control system architecture is preliminary designed.(3) Direct drive rotary motor is adopting as robot drive device to solve the contradiction between the miniaturization and high-power of the joint. Motor dynamics model is established, Feed-forward Compensation PID controller is designed, the exoskeleton robot control system experimental platform is set up. The simulation experiments are carried out with and without the interference. The experimental results show that the proposed method can track the gait trajectory fast and steadily with higher tracking precision. It can significantly improve the effect of motion control.