[1]邓静,查富生,汪云涛,等.直线电机外骨骼被动元件参数最优匹配方法[J].哈尔滨工程大学学报,2019,40(08):1488-1494,1516.[doi:10.11990/jheu.201806045]
 DENG Jing,ZHA Fusheng,WANG Yuntao,et al.Method for optimizing the param-pattern of passive elements in the energy-efficient actuators of exoskeletons driven by linear motors[J].hebgcdxxb,2019,40(08):1488-1494,1516.[doi:10.11990/jheu.201806045]
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直线电机外骨骼被动元件参数最优匹配方法(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
40
期数:
2019年08期
页码:
1488-1494,1516
栏目:
出版日期:
2019-08-05

文章信息/Info

Title:
Method for optimizing the param-pattern of passive elements in the energy-efficient actuators of exoskeletons driven by linear motors
作者:
邓静1 查富生1 汪云涛2 郑超1 李满天1
1. 哈尔滨工业大学 机器人技术与系统国家重点实验室, 黑龙江 哈尔滨 150001;
2. 深圳航天科技创新研究院, 广东 深圳 518057
Author(s):
DENG Jing1 ZHA Fusheng1 WANG Yuntao2 ZHENG Chao1 LI Mantian1
1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China;
2. Shenzhen Academy of Aerospace Technology, Shenzhen 518057, China
关键词:
外骨骼被动元件低能耗参数匹配最优问题
分类号:
TP24
DOI:
10.11990/jheu.201806045
文献标志码:
A
摘要:
外骨骼机器人的能耗和续航时间是决定其能否走向实用化的关键性能指标之一,为了选择最优的被动元件参数匹配使外骨骼驱动关节的能耗达到最优,本文提出一种被动元件的参数最优匹配方法。本文提出了被动元件参数最优匹配的优化目标和约束条件,利用基于卡尔曼滤波的改进遗传算法求解最优的被动元件参数,实验结果表明利用该方法能够显著降低直线电机外骨骼驱动关节的能耗。

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2018-6-18。
基金项目:国家自然科学基金项目(U1713222,61773139,61473015);深圳市科技计划项目(CXZZ20150504150510573);深圳孔雀计划项目(KQTD2016112515134654);黑龙江省自然科学基金项目(F2015008).
作者简介:邓静,男,博士研究生;查富生,男,副教授;汪云涛,女,副研究员.
通讯作者:汪云涛,E-mail:13714310421@163.com.
更新日期/Last Update: 2019-08-05