弹性外骨骼机器人髋关节设计与分析

Design and analysis of hip joints for elastomeric exoskeleton robot

针对目前下肢外骨骼机器人髋关节的设计存在着结构复杂、与人体耦合性较差的问题,将柔性机构的技术应用于外骨骼机器人的结构设计中,设计了一种弹性体三自由度外骨骼机器人髋关节结构。利用弹性板可以被弯曲和扭转的特点,设计实现了髋关节的外展/内收、外旋/内旋两个被动自由度,应用力学分析完成了该弹性体的设计与分析;利用MPU6050多轴加速度传感器,进行了对比实验;采集了外骨骼穿戴前后的髋关节运动角度,导入Matlab进行了分析,获得了髋关节各运动方向上的角度曲线图;再将穿戴前后的角度曲线图导入同一坐标系下,分析了各方向上的角度差。结果表明:该设计可行;在外骨骼穿戴前后,髋关节屈曲/伸展方向运动最大角度差为4.89°,外展/内收方向运动最大角度差为1.58°,外旋/内旋向运动最大角度差为1.06°。

Aiming at the design of hip joint of lower limb exoskeleton,which has complicated structure and poor coupling with the human body,using the technology of flexible mechanism in the structure design of the exoskeleton robot,a three-degree-of-freedom exoskeleton robot hip joint structure was designed. Due to the elastic plates can be bent and twisted,the hip outreach/adduction and external/internal rotation of the two movements were designed,and then the design of the elastomer was completed by mechanical analysis. And the MPU6050 multi-axis acceleration sensor was used,the angle data of hip motion before and after the wearing of the exoskeleton was collected,then imported to the Matlab for analysis,the angle curve of each movement direction of the hip joint was obtained. The angle curve of the front and rear angles was imported into the same coordinate system,and the differences in the direction was analyzed. The results indicate that the design is feasible,before and after wear the exoskeleton,the flexion/extension direction maximum differential angle is 4. 89°,the outreach/adduction direction maximum differential angle is 1. 58°,the external/internal rotation to exercise maximum differential angle is 1. 06°.