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提出一种欠驱动4自由度骨盆运动控制机构结构形式,定性分析了机构运动原理和补偿弹簧的作用,并建立了力学平衡方程。利用SimMechanics建立了机构模型,针对正常人步态过程中骨盆的运动状态进行了机构控制仿真,仿真结果表明了该机构实现期望运动控制的可行性。研制了实验样机,针对空载和主动真人不同负载情况进行了实验研究,分析了约束弹簧在不同负载时对控制机构运动的影响情况,结果验证了该样机实现步态中骨盆运动控制的可行性,为进一步完善步态训练机器人提供依据。
Proposed an underactuated 4 DOF pelvic motion control mechanism structure, qualitative analysis of the mechanism of motion and the role of compensation springs, and established a mechanical equilibrium equation. The mechanism model of the pelvis was established by using SimMechanics, and the control of the pelvis motion during normal gait was simulated. The simulation results show the feasibility of the expected motion control. The experimental prototype was developed, and the effects of the restraining spring on the movement of the control mechanism under different loads were analyzed for different loads of no-load and active-load. The feasibility of this prototype to control the pelvis in the gait was verified , To provide the basis for further improvement of gait training robot.