Co-simulation of Intelligent Lower Limb Assist Device Virtual Prototype

doi:10.16182/j.cnki.joss.2015.06.014

Abstract

Abstract: A virtual prototype model of power assist device for lower extremity was established to improve the efficiency and reliability of the power assist device design. The mechanical model using software CATIA was introduced to ADAMS to establish the virtual model, so as to carry out the kinematics and dynamics simulations, and combined the previous model established by ADAMS with the control model established in MATLAB/Simulink to realize the co simulation of the system. According to the characteristics of human gait data, PID control algorithm was used to control lower limb power system. The simulation results demonstrate that the control system has a good response characteristic and a good ability of trajectory tracking, nevertheless, the result discovers the shortcomings and deficiencies of the devices, and provides a reference for the design and the selection of the motor of the power equipment, what is more, and it provides an important theoretical basis for studying of assist robot.

Key words: lower limb powerassisted device, dynamic model, ADAMSUMATLAB, virtual prototype model, co-simulation

CLC Number:

TP242

Liu Zhenze, Wang Fengming, Zhang Xuange, Yin Cangqiong. Co-simulation of Intelligent Lower Limb Assist Device Virtual Prototype[J]. Journal of System Simulation, 2015, 27(6): 1247-1254.

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