协行助力机械腿结构优化及性能评估系统研究

发布时间：2018-03-16 09:45

本文选题：结构优化　切入点：性能评价　出处：《华东理工大学》2011年硕士论文　论文类型：学位论文

【摘要】：由于人类体力,耐力,速度等自身条件因素的限制,人体举重很难超过200kg,速度不超过10m/s,而且在长久执行某一任务时还需要停下来休息,因此,研究设计一种提高人体机能的设备显得是必要的。协行助力机械腿是用于人体在无法背负重物或背负能力不足时,在尽量少甚至不降低人体其他性能的情况下,使人体的背负重物的能力得到大幅提升。本课题受到国家自然科学基金《虚拟重力驱动的协行动力机械腿建模方法与步态周期分岔研究》(基金号：50775072)资助。本文基于人体工程学方法,采用液压驱动方式设计了一种新型可穿戴协行助力机械腿,对液压执行器进行了校核分析；针对人体下肢的前进运动步态的工作特性,基于Denavit-Hartenberg方法建立机械腿运动学和动力学方程；考虑运动过程中的承载能力,灵巧度及刚度特性,应用Matlab对规划前进步态进行结构优化分析；提出了评估系统优劣的三个基础性能指标——减重能力,步态跟随性和安全可靠性。分析结果表明：液压执行器的结构紧凑,但是相对于常选安全系数,稳定性安全系数偏低,回程弹簧的弹性系数存在一个临界值,使得液压缸能够实现回覆功能；液压缸的位置结构参数对系统的承载能力有着很大的影响；所设计的协行助力机械腿能够实现减重功能,达到了预期目的,所建立的性能评估方法有效,为验证外骨骼系统性能提供了可量化的依据。
[Abstract]:Because of the limitations of human physical strength, endurance, speed, etc., it is very difficult for the human body to lift weights more than 200 kg, and the speed does not exceed 10 m / s, and it also needs to stop and rest while performing a certain task for a long time, so, It is necessary to study and design a kind of equipment to improve the function of human body. The ability of the body to carry heavy objects has been greatly improved. This project is supported by the National Natural Science Foundation of China, "Modeling method and gait period bifurcation of the Cooperative Action Mechanical leg driven by Virtual Gravity" (Fund No.: 50775072). This paper is based on the ergonomics method. In this paper, a new wearable assisted mechanical leg is designed by means of hydraulic drive, the hydraulic actuator is checked and analyzed, and the working characteristics of the walking gait of human lower extremity are analyzed. Based on the Denavit-Hartenberg method, the kinematics and dynamics equations of the mechanical leg are established, and the structural optimization analysis of the planning gait is carried out by using Matlab, considering the bearing capacity, dexterity and stiffness characteristics in the course of motion. In this paper, three basic performance indexes for evaluating the system are presented, such as weight reducing ability, gait followability and safety and reliability. The analysis results show that the hydraulic actuator has a compact structure, but the stability safety factor is low compared with the usual safety factor, and the elastic coefficient of the return spring has a critical value, which makes the hydraulic cylinder achieve the recovery function. The position and structure parameters of the hydraulic cylinder have a great influence on the bearing capacity of the system. It provides a quantifiable basis for verification of exoskeleton system performance.
【学位授予单位】：华东理工大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH122

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