摘要在我们的日常生活中，存在着许多由于各种原因而不能正常工作的人，同时，每天在医院、码头等地有着各种高强度体力劳动者。针对于这种情况，机械外骨骼作为一种可穿戴的机器人，控制着操控者和外骨骼装置的力、位置和其它信息的实时传递，使健康或残障人士能戴在身上，提高手臂力量，增加机能，从而轻松抓举或者搬运重物。42902

本课题以四自由度的上肢增力型机械外骨骼为研究对象，具体的研究内容如下：

（1）根据国内外增力型上肢外骨骼的发展状况并列举部分优秀设计案例，从中总结其优缺点，对人体外骨骼的设计结构以及参数选定进行分析，选定上肢外骨骼的参数范围。

（2）对选定的增力型上肢外骨骼进行运动学建模在运动学方面主要通过齐次坐标、齐次变换矩阵、D-H 方法等工具和手段研究。然后对其进行动力学建模。动力学建模中，利用拉格朗日方程法，分析其正动力学问题，并且利用拉格朗日方程法对逆运动学进行了研究。

（3）对本文构建的上肢外骨骼模型进行控制策略研究，研究了外骨骼末端在空间中的运动轨迹，使用 Matlab/Simulink 对各个关节角度的跟踪误差以及控制力矩进行仿真，研究讨论其控制效果。针对增力型上肢外骨骼，控制人机间交互力，观察在增加外力前后，外骨骼末端位置变化。

关键词  上肢外骨骼  运动学  动力学   MATLAB仿真

毕业论文设计说明书外文摘要

Title    Analysis and Intelligent Control Strategy of the Upper-Limb Powered Exoskeleton                                              

Abstract

In our daily life, there are many people for various reasons not working, at the same time, every day a variety of high-strength physical laborers working in the hospital, docks and other places. For in this case, the mechanical exoskeleton as a wearable robot, the control of the exoskeleton and force control device, location, and other real-time transmission of information, so that people with disabilities or health can be worn on the body, improve arm strength, increase performance, making it easy to snatch or carrying heavy loads.

Therefore, this topic will focus on four degrees of freedom of the upper-limb powered exoskeleton of healthy people or disabled people as the research object. The major contents are as followed:

（1）According to the development at home and abroad energizing type upper extremity exoskeleton，we include some outstanding design cases and sum up its advantages and disadvantages. Design structure and parameters of the exoskeleton were selected. The mainly relevant parameters were also set.

（2）This paper will work on the selected upper-limb powered exoskeleton, mainly using homogeneous coordinates, homogeneous transformation matrix, D-H methods and means as research tools to solve kinematics. Lagrange equation is used to obtain dynamic equations.

（3）Finally，the paper will research the upper extremity exoskeleton model build control strategy and study exoskeleton end of the trajectory in space. Through MATLAB simulation method, simulation tracking error and control torque of each joint angles. Then, this project can be in-depth studied. For upper-limb powered exoskeleton, control human-computer interaction force, observation exoskeleton end position changes when we increase the force.

Keywords  upper-limb exoskeleton  kinematics  dynamic   MATLAB simulation

目   次

1  引言 1

1.1  研究背景 1