Analysis was carried out by combined with human anatomy external skeletal robots motion of lower limb. Exoskeleton in swinging movement in the late phase was mainly expounded. According to the power bond graph and the transfer function of hybrid modeling, hydraulic cylinder pressure, velocity, acceleration and the valve core displacement were simulated by using SIMULINK. The simulation results verify the rationality of the system movement.
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罗璇,肖美芳,杨文龙,吴富姬,李建.外骨骼机器人处于摆动相后期系统模型仿真[J].机床与液压,2017,45(3):99-102. . Simulation of System Model of Exoskeleton Robot in Late Swing Phase[J]. Machine Tool & Hydraulics,2017,45(3):99-102