Author(s): Liu Zhenze, Wang Fengming, Zhang Xuange, Yin Cangqiong, College of Communication Engineering, Jilin University
Pages: 1247-1254
Year: 2015 Issue:  6
Journal: Journal of System Simulation
Keyword:  lower limb power-assisted device; dynamic model; ADAMS\MATLAB; virtual prototype model; co-simulation;
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.