下肢外骨骼的结构设计与仿真分析
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摘要
提出了一种利用电机+电动推杆混合驱动的外骨骼机械结构,它的单下肢有3个自由度,使用较少但必要的自由度来实现行走,降低了机构的复杂性,并且该结构避免了髋、膝关节轴向尺寸对人体的干扰以及踝关节尺寸对脚部运动的影响,同时引入腰宽调节机构,使外骨骼机器人能够适用于不同人群。此外,基于D-H法,建立了外骨骼机器人的运动学模型,并利用有限元分析软件,对外骨骼机器人进行静力学、动力学和模态分析。整个步行周期的受力情况的分析结果有效验证了结构设计的可行性。
An exoskeleton mechanical structure driven by motor + electric push rod was proposed. The single lower limb has three degrees of freedom, and walking is achieved with fewer but necessary degrees of freedom, reducing the complexity of the mechanism, and the structure avoids the interference of the axial dimensions of the hip and knee joints on the human body and the influence of the ankle joint size on the foot movement. At the same time, the waist width adjustment mechanism enables the exoskeleton robot to be applied to different groups of people. In addition, based on the D-H method, the kinematics model of the exoskeleton robot was established, and the statics, dynamics and modal analysis of the external bone robot were performed using the finite element analysis software. The analysis results of the stress conditions of the whole walking cycle effectively verified the feasibility of structural design.
An exoskeleton mechanical structure driven by motor + electric push rod was proposed. The single lower limb has three degrees of freedom, and walking is achieved with fewer but necessary degrees of freedom, reducing the complexity of the mechanism, and the structure avoids the interference of the axial dimensions of the hip and knee joints on the human body and the influence of the ankle joint size on the foot movement. At the same time, the waist width adjustment mechanism enables the exoskeleton robot to be applied to different groups of people. In addition, based on the D-H method, the kinematics model of the exoskeleton robot was established, and the statics, dynamics and modal analysis of the external bone robot were performed using the finite element analysis software. The analysis results of the stress conditions of the whole walking cycle effectively verified the feasibility of structural design.
引文
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[2] Yuan P,Wang T,Ma F,et al.Key technologies and prospects of individual combat exoskeleton[M]//Knowledge Engineering and Management.Berlin:Springer,2014:305-316.
[3] 孙明艳,胡军,刘有海,等.穿戴式下肢外骨骼机器人的结构设计与仿真[J].机械,2016,43(1):43-48.
[4] 宁萌,罗超,马泽峰,等.一种下肢外骨骼助行康复机器人及其康复评价方法[J].机械科学与技术,2017,36(5):697-703.
[5] 雷展.人体下肢动力外骨骼模型的研究[D].西安:陕西科技大学,2016.
[6] 赵彦峻,葛文庆,刘小龙,等.外骨骼机器人设计及其机械结构的有限元分析[J].机床与液压,2016,44(3):10-13,51.
[7] 张万青.下肢外骨骼机器人设计及其仿真研究[D].淄博:山东理工大学,2015.
[8] Long Y,Du Z J,Dong W,et al.Human gait trajectory learning using online Gaussian process for assistive lower limb exoskeleton[M]//Wearable Sensors and Robots.Singapore:Springer,2017:165-179.
[9] 王善杰.下肢可穿戴外骨骼机器人仿人机构设计与运动控制研究[D].合肥:合肥工业大学,2015.
[10] 段启超,赫东峰,刘波,等.下肢外骨骼机器人人机约束模型建立及分析[J].机械设计与制造工程,2015,44(1):50-53.
[11] 于丰博,杨惠忠,卿兆波.基于D-H参数法的二自由度并联机械手逆运动学求解[J].制造业自动化,2015,37(22):10-13.
[12] Meng W,Liu Q,Zhou Z D,et al.Recent development of mechanisms and control strategies for robot-assisted lower limb rehabilitation[J].Mechatronics,2015,31:132-145.
[13] Li Z Q,Xie H X,Li W L,et al.Proceeding of human exoskeleton technology and discussions on future research[J].Chinese Journal of Mechanical Engineering,2014,27(3):437-442.
[14] 李纬华,孙洪颖.下肢康复机器人人机运动分析及仿真研究[J].机电工程技术,2016,45(8):24-27.