摘要
外骨骼技术是近年来智能机器人学科研究的重要热点之一。外骨骼最初来源于人类的仿生技能,诸如头盔、铠甲等是最基本的人体外骨骼,只有保护防御作用。随着科学技术的进步,为外骨骼配备动力系统,使其在保护人类的同时能够分担人体从事各项活动时所承受的外载荷,因此现代意义上的外骨骼的概念就是模拟人体的骨骼、肌肉和关节系统为之配备相应的金属外骨骼,使负重主要通过外骨骼传递至地面；通过将外骨骼穿戴于人体,融合二者为人机耦合系统,在机械、动力和控制系统的协同工作下,提高人体运动时的负重能力,增强人的耐力,这就是人机携行运载系统。此系统可有效的解决军事和民用领域中日益增长的负荷与人体承载能力有限之间的矛盾。目前包括美国、日本和俄罗斯等国在内的多家科研机构和高等院校均将外骨骼技术列为重点研究内容,其中就包括全球著名的Lockheed Martin公司。
论文从人机耦合模型、外骨骼运动学分析、多自由度振动响应研究、人体非线性运动特征函数建模和完整约束的多刚体系统动力学仿真五方面对外骨骼式人机携行系统中的关键技术开展了以下研究工作：
(1)基于生物力学和人机工程学理论,论文提出了人机耦合的概念,在人机工程参数、关节自由度的设置与约束和动力系统的设计三个方面对人机耦合进行了初步的探索,建立了以最小功能尺寸参数为目标的外骨骼参数化设计的数学模型；同时以外骨骼的垂向承载功能要求为基础,选择液压系统模式作为外骨骼的动力系统,建立了外骨骼的系统动力模型；
(2)论文确定了人主机辅的人机携行运载系统的工作模式,并针对外骨骼固有的机械运动特点,提出了外骨骼的PRBA运动模型；基于多刚体平面运动分析理论,在人体矢状面内建立“蹲起”、“单膝跪”和“行走”姿态的牵连运动和相对运动的运动方程,利用基点合成法确定外骨骼各构件的空间运动数学模型；
(3)论文针对人机携行运动速度的提升导致冲击和振动现象的发生,提出了将多自由度振动分析理论应用于外骨骼研究的思路,并在髋关节和踝关节处设计了两种二系悬挂弹性阻尼系统模型,建立了各系统的多自由度运动微分方程,通过MATLAB仿真获得外加简谐激励的输出响应特性；基于刚柔耦合理论,运用ANSYS有限元分析软件,对背负系统进行了强度和刚度分析,以及外骨骼整体结构的模态分析；
(4)论文采用MOCAP动作捕捉系统,以各关节角度变化量作为模型的输入参量,重塑人体典型运动姿态模型；以INVSPOLY函数为基函数,结合有限元分析理论,通过区域划分和区域内节点循环运算的方法,将改进后的移动最小二乘法用于将角度变化中的非线性函数关系转换为线性关系；以每个区域内的数据误差平方和最小化作为数据拟合误差判别准则,建立典型运动姿态的以角度变化为变量的空间运动函数关系；
(5)按照外骨骼依附于人体而存在的模式,论文提出了以人机耦合为基础,建立外骨骼整体结构的完整约束多刚体系统模型；并以各关节角度为广义坐标,以液压缸的支撑力为广义输出量,基于D'Alembert-Lagrange动力学分析理论,建立外骨骼系统的Lagrange动力学方程组；选择“蹲起”姿态作为仿真对象,将该姿态的非线性曲线拟合赋以系统中的广义坐标,运用MATLAB编程进行仿真研究,获得各关节的弯矩时域特性曲线,可为动力系统的能量设计和传感、控制系统的策略研究提供可靠的和有益的理论基础；最后通过对外骨骼原理样机的应变测试试验和试验结果与有限元分析结果对比的残差分析,验证了原理样机的强度可靠性。
通过对以上各项外骨骼关键技术的理论研究,论文定义了人机耦合的概念,建立了以垂向承载为目标、以人机协调运动为约束条件的基于人机耦合的设计模型,并通过创建外骨骼PRBA运动数学模型,解决了外骨骼的建模难题和人机分离研究的问题；运用多自由度振动分析理论和刚柔耦合理论,建立外骨骼多关节的多自由度运动微分方程和有限元模态分析模型,解决了外骨骼结构轻量化设计、动力系统精确设计与人机携行系统高频运动、大负重功能要求之间的矛盾；建立外骨骼整体结构的完整约束多刚体系统动力学分析模型,并以运用MOCAP动作捕捉系统获取、且经过改进后的移动最小二乘法非线性变换、最终建立的典型运动姿态的以角度变化为变量的空间运动函数关系为约束条件,获得外骨骼各关节点的驱动力矩的精确解,解决了以往研究中存在的动力系统需提供的动态输出认识模糊、控制系统实时随动控制策略缺乏建模基础理论、外骨骼结构局部优化设计缺乏实时动态载荷谱等相关问题。论文部分研究成果已经应用于西南交通大学作为主研单位承担的“单兵外骨骼助力系统原理样机研制”项目中,实现了人机携行运载系统大负荷承载、人机运动协调、高效的动力系统输出特性等关键技术的突破,为外骨骼关键技术的研究提供了有益、合理和可靠的理论基础。
Exoskeleton has been among the global researching focus in the field of science and technology in recent years. The idea of exoskeleton was originally conceived from bionic skills of human beings. Things like helmets and armour are the simplest mode of exoskeleton for protection and defenses. As the technology improves, the dynamic system for exoskeleton can share external load that the body bears in different activities apart from protecting the human, technology of which has been achieved. Therefore modern notion of exoskeleton means stimulating human skeleton, muscles and joint systems and thus equipping them corresponding metal exoskeleton to pass the load to the ground through it. It also means a man-machine coupling system composed by body and exoskeleton work cooperatively with help of mechanical, dynamic and control systems to enhance loading ability and body endurance, which is defined as man-machine accompanying load system. This system can effectively solve the contradiction between the increasing load of the military and civil field and the limited human carrying capacity. At present, exoskeleton technology has been the important research content among the United States, Japan and Russia and other countries. In which the global famous Lockheed Martin Corporation is included.
Focusing on key technologies of man-machine system in mode of exoskeleton, the paper studies theoretically on exoskeleton, the man-machine accompanying load system from aspects of dynamics analyses on exoskeleton, multi-DOF vibration response, human body nonlinear motive characteristic function, and multi-rigid-body system dynamics with holonomic constraints. Research has been mainly developed from the following several aspects.
(1) Based on biomechanics and ergonomics, the notion of man-machine coupling is introduced in the paper in the field of exoskeleton research. Man-machine coupling is explored preliminarily from ergonomic parameters, and freedom degree of joints setting and constraints, dynamic system design. A mathematical model of exoskeleton in parameterized design is built using minimal dimension parameters under function. Meanwhile, on basis of functional requirements for vertical loading, the dynamic model of exoskeleton system is set up by taking hydraulic system patter as the dynamic system of exoskeleton.
(2) The work patter of'man dominates, machine assists'of man-machine system has been set, and the idea of PRBA motion model is proposed for inherent characteristics of mechanical motion; In view of analysis theory of multi-rigid-body plane motion, motion equations of the following motion and relative motion of postures of'squat'、"single leg kneeling" and "walking" is built inside human vertical plane. A mathematical model of each component space motion is defined by point synthetic method.
(3) For shocking and vibration phenomena occurred after movement speed increase of the man-machine accompanying load system, the paper proposes a new idea to put multi-DOF vibration analysis theories into exoskeleton studies. Two system models of secondary suspension elastic damping are designed in hips and ankles, and multi-DOF motion differential equations of each system are set up. Output response characteristics of additional harmonic excitation are acquired by MATLAB stimulation. Based on the rigid-flexible coupling theories, strength and stiffness of the bearing system are analyzed by ANS YS, finite element analysis software, as well as modal analysis of the whole exoskeleton structure.
(4) Adopting MOCAP, a motion capture system, a motion model of typical postures when human body moves is rebuilt with angle variation of each joint as input parameters; Taking INVSPOLY function as primary function, and combined with finite element analysis theory together with regionalism and regional node looping calculation methods, the updated moving least-square method is applied into transferring nonlinear function of angle variation into linear function. Minimizing error sum of squares from each region to be data fitting error criterion, space motion function is built with angle variation as variables in typical motion postures.
(5) Fitting into attachment model of exoskeleton to the body, this paper proposes establishing multi-rigid-body system model with holonomic constraints for the whole structure of exoskeleton with basis of man-machine coupling. According to D'Alembert-Lagrange dynamics analysis theory, Lagrange dynamics equations of exoskeleton system are established with joint angles as generalized coordinates and bearing power of hydraulic cylinder as generalized outputs. Selecting'squat'as simulation object, taking nonlinear curve fitting of this posture as generalized coordinates, characteristic curves of bending moment domain of each joint are gained though MATLAB programming for stimulation study, which is to provide a reliable and useful theoretical foundation for energy design of dynamical system, sensing and control systems.
Through studies on key technologies of exoskeleton, man-machine coupling model is built with basis of man-machine coupling with vertical load as object and man-machine accompanying load as constraint condition. In addition, a mathematical model for PQBA motion of exoskeleton is built, though which the difficulties in exoskeleton modeling and man machine separation have solved. By multi-DOF vibration analysis theory and rigid-flexible coupling theory, the conflicts between exoskeleton structure lighting, dynamic system accurate design and high-frequency man-machine accompanying load and heavy load bearing have been solved by differential equations of multi-DOF motion derived and FEA (finite element analysis) motion model built. Kinetic analytical model of multi-rigid-body system with holomonic constraints for the whole exoskeleton structure is built; Through MOCAP, the motion capture system and nonlinear transformation obtained by updated moving least square method, space motion function relationship with angle variation of typical motion posture as variables is finally established in acquiring exact solution for driving movement of each joint, by which the vague cognition in dynamic output by dynamic system, lack of basis modeling knowledge in real-time and follow-up control strategies in control system, and lack of real-time dynamic load in local optimization of exoskeleton structure existing in previous studies.
The research result presented by the paper has been partly applied into'experimental prototype of individual exoskeleton load assisting system', a programme which is mainly undertaken by Southwest Jiaotong University. The programme has achieved breakthrough in heavy load bearing in man-machine accompanying load system, man-machine coordination, output characteristic of efficient dynamic system and other key technologies which has laid a beneficial, reliable and solid theoretical foundation for other key technology studies.
引文
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