上肢外骨骼助力系统集成化设计与有限元分析

Integrated design and finite element analysis of upper extremity exoskeleton assist system

根据托举搬运的工况要求,设计了一种上肢外骨骼助力系统,该系统具有可穿戴、易操控、高随动及大承载等特点。根据人体上肢结构、运动的特点,采用集成化设计方法建立了上肢外骨骼助力系统的Inventor模型,设计了能托举搬运40 kg重物的上肢外骨骼助力系统,并对框架式机械臂、多级转阀式肘肩关节、转阀驱动机构进行了较为详细的分析说明。对上肢外骨骼助力系统的助力原理进行了分析,并对其创新点进行了总结归纳。为了提高上肢外骨骼助力系统的安全性,利用ANSYS Workbench软件对其关键零/部件进行强度分析,分析结果表明上肢外骨骼助力系统的关键零/部件强度符合安全要求,保证了使用的安全性,并为后期的进一步优化设计提供了设计参考。

According to the requirements of lift handling,a kind of upper extremity exoskeleton assist system was designed,which has the characteristics of wearable,easy to control,high follow-up,and large bearing load.According to the characteristics of the upper extremity structure and movement of the human body,an Inventor model of the upper extremity exoskeleton assist system using an integrated design method was established,and an exoskeleton power system capable of lifting and carrying 40 kg of heavy weights was designed.The frame manipulator,multi-stage rotary valve elbow and shoulder joint and the rotary valve drive mechanism were analyzed in detail.Analyzed the assist principle of the exoskeleton assist system and summarized its innovation points.In order to improve the safety of the exoskeleton assist system,ANSYS Workbench software was used to analyze the strength of its key components.The analysis results show that the strength of the key components of the exoskeleton assist system meets the safety requirements and ensures the safety of use.It also provides a reference for further optimization design in the later period.