摘要
为抵消负载重力力矩,许多负重型外骨骼机器人在髋部设置了气弹簧,但这导致了人体在单腿支撑相后摆过程中由于转动副的消失而不能正常行走。为解决这一问题,针对华东理工大学设计的外骨骼机器人"ELEbot",采用了螺旋理论计算确定"ELEbot"在单腿支撑相的自由度和约束,提出了一种改进的机构以满足此位姿下正常行走对自由度的要求,并验证了驱动配置的合理性。通过ADAMS软件对建立的模型进行仿真分析,得出与理论计算结果一致的结论,证明了优化机构的可行性。
In order to offset load torque,many weight- bearing lower extremity exoskeleton install gas spring in the hips which make the human walk abnormally in single leg support phase due to the disappearance of the rotation junction. To solve this problem,aiming at the exoskeleton robot ＂ ELEbot＂ designed by east China University of Science and Technology,by using the screw theory,the ＂ ELEbot＂ degrees of freedom and constraints in the single leg support phase are calculated and determined and then an improved mechanism to meet demand for degrees of freedom in this posture is put forward and the rationality of the drive configuration is verified. Through ADAMS software,the simulation analysis of the building model is carried out,This simulation come to the conclusion that the simulation result is consistent with the theoretical calculation,the feasibility of the optimization mechanism is proved.
出处
《机械传动》
CSCD
北大核心
2016年第7期38-41,共4页
Journal of Mechanical Transmission
基金
国家自然科学基金:基于能量优化的外骨骼可控刚度串联弹性执行器研究(51275170)
