Autor: |
Zhao-yang Li, Yue-hong Dai, Jun-yao Wang, Peng Tang |
Jazyk: |
angličtina |
Rok vydání: |
2022 |
Předmět: |
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Zdroj: |
International Journal of Aerospace Engineering, Vol 2022 (2022) |
Druh dokumentu: |
article |
ISSN: |
1687-5974 |
DOI: |
10.1155/2022/7535450 |
Popis: |
To eliminate the influence of spacesuits’ joint resistant torque on the operation of astronauts, an active spacesuit scheme based on the joint-assisted exoskeleton technology is proposed. Firstly, we develop a prototype of the upper limb exoskeleton robot and theoretically analyse the prototype to match astronauts’ motion behavior. Then, the Jiles-Atherton model is adopted to describe the hysteretic characteristic of joint resistant torque. Considering the parameter identification effects in the Jiles-Atherton model and the local optimum problem of the basic PSO (particle swarm optimization) algorithm, a SA- (simulated annealing-) PSO algorithm is proposed to identify the Jiles-Atherton model parameters. Compared with the modified PSO algorithm, the convergence rate of the designed SA-PSO algorithm is advanced by 6.25% and 20.29%, and the fitting accuracy is improved by 14.45% and 46.5% for upper limb joint model. Simulation results show that the identified J-A model can show good agreements with the measured experimental data and well predict the unknown joint resistance torque. |
Databáze: |
Directory of Open Access Journals |
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