可穿戴式助力外骨骼质心稳定性的影响因素探究

The Study on the Influencing Factors of the Stability of Booster Wearable Exoskeleton

以第二代外骨骼试验样机为研究对象,通过对髋关节处倾覆力矩的计算,分别进行静态和动态分析,研究影响倾覆力矩的因素。利用控制变量法进行实验,对外骨骼的初始姿态、重物的重量G、重物在背板上的高度h、重物与背板的距离s、双膝蹲-起立的幅度ω及速度v等因素进行分析,对所得数据利用最小二乘法进行拟合,得出倾覆力矩的变化曲线,并与理论计算进行对比,验证实验结果的正确性。实验结果表明:随重物的增加、力臂的增加及下蹲幅度的增加都会使倾覆力矩变大。这一结果为外骨骼背架的优化及人机偕行性的研究提供了依据。

Choosethe second generation of exoskeleton test model as the research object, through to the hip place overturning moment calculation, static and dynamic analysis, respectively, studies the influencing factors of overturning moment. Control variable method is used for experiments, external skeletal initial stance, the weight of the height of the weight on the back to G, h, the weight and the distance from the back, knees s squat-to stand up by omega and velocity v is analyzed, on the data obtained using the least square method for fitting, it is concluded that the change of the overturning moment curve, and compared with theoretical calculation and experimental results is proved to be correct. The experimental results show that with the increase of the weight, the increase of the lever and crouch down amplitude increase will make the overturning moment. The results of exoskeleton back frame optimization and man-machine accompanying sex research to provide the basis.