摘要
以第二代外骨骼试验样机为研究对象,选取双膝蹲-起立特征动作进行运动学分析,对特征动作用Boltzmann函数进行曲线拟合。建立了双膝蹲-起立特征动作动力学模型,基于牛顿法建立了各个关节处动力学方程,采取不同负重,利用MATLAB软件编程求解,得出了各关节处驱动力矩随时间变化曲线。根据得出的结果,得到了各关节峰值出现在4.3s处,各个关节处所需力矩的峰值随负重基本呈线性变化,且三个关节中膝关节所承受的转矩最大,在动力部分设计时需要着重考虑。
Choose the second generation exoskeleton experimental prototype for the study,select the knees squatting-stand features action for kinematics analysis,use Boltzmann function for characteristic operations curve fitting.Establish the knees squating-stand features dynamic model,based on Newton＇s method to establish the dynamics equation of various joints,and take a different weight.Using MATLAB software programming to solve,obtain the joints driven torque curve of change over time. According to the results,obtain the peak appears in 4.3 s at each joint,individual joint space to the peak change with basic linear load torque and the three joint of knee joint on the maximum torque,need to consider dynamic part of the design.
作者
张斌
刘放
杨小平
许鸿谦
ZHANG Bin, LIU Fang, YANG Xiao-ping, XU Hong-qian(Southwest Jiaotong University, Institute of Mechanical Engineering, Sichuan Chengdu 610031, Chin)
出处
《机械设计与制造》
北大核心
2018年第8期142-144,148,共4页
Machinery Design & Manufacture
基金
国家自然科学基金项目(51175442)
