一种减重外骨骼机构设计及动力学分析

发布时间：2018-04-10 06:16

本文选题：减重　切入点：外骨骼　出处：《机械设计与制造》2017年12期

【摘要】：随着社会老龄化,外骨骼技术逐渐应用于助老领域,针对存在下肢退化性关节炎老年人行走过程中需减轻自身重量对承重关节压迫的具体需求,分析了减重外骨骼构型特点,并在此基础上设计了一种基于2-UPS机构的减重外骨骼。外骨骼与人体通过骨盆及前脚掌连接构成单闭环,应用闭环矢量法建立外骨骼运动学模型。基于老年人常速行走过程中下肢关节角度变化关系,计算外骨骼主、被动运动副在一个步态周期的速度和加速度。应用拉格朗日法分别对行走过程中双腿支撑相和单腿支撑相进行动力学分析,并通过Adams仿真软件验证了动力学模型的正确性。
[Abstract]:With the aging of society, exoskeleton technology has been gradually applied in the field of assisting the elderly. In view of the need to reduce the specific demands of weight bearing joint compression in the walking process of the elderly with degenerative arthritis of lower extremities, the characteristics of weight-reducing exoskeleton configuration are analyzed.On this basis, a weight loss exoskeleton based on 2-UPS mechanism is designed.The exoskeleton is connected with human body through pelvis and forefoot to form a single closed loop. The kinematics model of exoskeleton is established by closed loop vector method.The velocity and acceleration of exoskeleton active and passive motion pairs in a gait cycle were calculated based on the angle change of lower extremity joints during walking at constant speed.The Lagrangian method is used to analyze the dynamics of the leg support phase and the single leg support phase respectively, and the correctness of the dynamic model is verified by Adams simulation software.
【作者单位】：燕山大学河北省并联机器人与机电系统实验室;先进锻压成形技术与科学教育部重点实验室(燕山大学);中国一重集团重型技术装备基础科学研究院;中国一重集团大连设计研究院有限公司;
【基金】：国家自然科学基金(51305380) 河北省自然科学基金(E2015203144)
【分类号】：TP242

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