下肢助力机械腿空间力系机构研究

发布时间：2018-04-04 00:00

本文选题：空间机构　切入点：空间力系　出处：《华东理工大学》2012年硕士论文

【摘要】：外骨骼机器人是一个将人与机器相结合基于人工智能控制的综合机械系统,可以为医疗、工业和军事等多个领域提供助力功能。为了研究兼顾稳定性与灵活性的下肢助力机械腿结构形式,提高机械腿的承载能力,在中国国家教育部博士点基金(20100074110005)和教育部国防科研专项经费资助计划(20108824)资助下,本课题开展了下肢助力机械腿的空间机构与力系的基础分析研究。基于D-H方法对不同平面不同姿态下的机械腿空间机构建立了运动学方程,结合人体工程学确定了腰带结构参数的最优范围。对机械腿自由度布置进行优化,在欠驱动髋关节添加了反力矩机构,改善了下肢助力机械腿的受力结构。使用快速成型技术制作了工程塑料结构样机,使机械结构总重量减轻了52.1%。样机试验结果表明：机械腿结构形式紧凑,力学性能良好,满足支撑稳定性和运动灵活性要求,符合人体运动学规律。
[Abstract]:Exoskeleton robot is an integrated mechanical system that combines man with machine based on artificial intelligence control. It can provide assistance function for medical, industrial and military fields.
In order to study both the stability and flexibility of the lower limb assistant leg structure, improve the bearing capacity of the mechanical leg, at the national Ministry of education Chinese Dr. Fund (20100074110005) and the Ministry of education of national defense scientific research special fund project (20108824) supported by the research foundation of space mechanism and the lower limb assistant leg force system analysis research based on D-H method. Mechanical leg space mechanism on different plane under different attitude kinematics equation was established, combined with human engineering to determine the optimal range of belt structure parameters. The mechanical leg freedom layout optimization, under actuated hip add anti torque mechanism, force structure of lower limb assistant leg was improved. The use of rapid prototyping technology of a prototype engineering plastic structure, mechanical structure of the total weight of 52.1%.
The test results of the prototype show that the structure of the mechanical leg is compact, the mechanical performance is good, the stability of the support and the flexibility of motion are met, and the rules of human kinematics are in line with the rules of the human body.

【学位授予单位】：华东理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112

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