基于缓冲结构设计的携行式外骨骼研究

Research of Portable Exoskeleton Based on Buffer Design

为使携行式外骨骼具有更好的减震和缓冲功能,在携行式外骨骼中增设了缓冲结构。将整个携行式外骨骼视为刚性结构与柔性结构的耦合模型,以60 kg为负重载荷,并考虑冲击系数,在ANSYS中利用刚性区域和耦合技术处理携行式外骨骼有限元模型,并进行该外骨骼结构行走姿态的受力分析和整机振动模态分析,获取外骨骼各姿态应力值和整机各阶振型、振动频率。根据分析结果得,外骨骼结构除踝关节结构需加强外,其余部件均满足静力学强度要求,模态分析结果显示该携行式外骨骼有效避免了人体运动过程中共振现象的产生。对外骨骼进行应力测试和行走测试,各测试数据表明外骨骼满足实际使用要求。

For better reducing vibration and absorbing impact,buffer components are added in portable exoskeleton.In this paper,portable exoskeleton is regarded as coupling model of the rigid parts and the flexible parts.The portable exoskeleton＇s finite element model by rigid region and coupling method in ANSYS,with which the stress analysis under the condition of motion and modal analysis are done for the whole portable exoskeleton to get stress,vibration mode and frequency under the load of 60kg and considering the impact factor.All parts meet the strength requirements of statics except ankle structure should be strengthened from the result of stress analysis.Portable exoskeleton effectively avoids the frequency of human motion to prevent resonance.According to the results of stress test and movement test the portable exoskeleton can be practically applied.