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Modeling method of skeleton robot load model

A technology of exoskeleton robot and load model, which is applied in the direction of excitation or armature current control, and can solve problems such as unreasonable load

Inactive Publication Date: 2020-02-07
CHENGDU JINJIANG ELECTRONICS SYST ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The core function of the exoskeleton robot is to assist the human body so that it can carry heavier loads, so the calculation of its load model is particularly important. There are many unreasonable loads of the current exoskeleton robot

Method used

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  • Modeling method of skeleton robot load model
  • Modeling method of skeleton robot load model
  • Modeling method of skeleton robot load model

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Embodiment Construction

[0098] The technical solution of the present invention will be further described in detail below in conjunction with specific examples, but the protection scope of the present invention is not limited to the following description.

[0099] A method for modeling and establishing a load model of a skeletal robot, in which motion load input calculation is performed before modeling.

[0100] In various action modes during exercise, the joint load changes dynamically, so it is important to consider when selecting the servo motor and reducer, especially the maximum torque that the motor needs to output in different action modes to meet the normal action mode. need. Here, there are two control methods for determining the motion load input.

[0101] Method 1: Modeling and calculation through professional mechanical software

[0102] In the mechanical structure design process of the skeleton suit system, the strength of each joint and limb needs to be considered, and static analysis an...

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Abstract

The invention relates to a modeling method of a skeleton robot load model, comprising the steps of: setting the inductance of an armature winding as La, the resistance of the armature winding as Ra, the voltage of an armature as ua, the current flowing through the armature as ia, the angular velocity of a motor shaft as omega, and the rotation angle of the motor shaft as theta; and performing calculation on an armature loop according to a Kirchhoff voltage law, wherein when the rotation angle of the motor shaft theta is used as an output to be plugged into a relation omega=d[theta] / dt, a differential equation which takes a rotated angle as an output and is shown in the description can be obtained. The modeling method provided by the invention is close to practical use of a human body.

Description

technical field [0001] The invention relates to the field of exoskeleton robots, in particular to a method for modeling and establishing a load model of a skeleton robot. Background technique [0002] The exoskeleton robot integrates sensing, control, information fusion, mobile computing and other technologies, and provides the wearer with an electromechanical comprehensive structure that enhances the load-bearing capacity and reduces physical energy consumption. An exoskeleton robot is a robot worn outside the human body, also known as a "wearable robot". The core function of the exoskeleton robot is to assist the human body so that it can carry heavier loads. Therefore, the calculation of its load model is particularly important. There are many unreasonable loads of the current exoskeleton robot. Contents of the invention [0003] The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a method for modeling and establishing a l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P7/18
CPCH02P7/18
Inventor 杨晓冬张向刚
Owner CHENGDU JINJIANG ELECTRONICS SYST ENG