摘要
根据双足助力外骨骼机器人的行走周期特征,建立有限元模态分析模型,用以模拟机器人的行走动态特征。在有限元结果中提取双足机器人的固有频率及振动特征,同时根据人体步态在行走的不同阶段,分析计算整体系统的放大系数,最终结合系统放大系数计算振荡状态下疲劳等效载荷,预估系统整体的疲劳寿命。根据分析结果,在双足机器人的腿部机构中添加增强部件可以提高助力机器人模拟人类腿部行走的稳定性。
Based on the walking cycle characteristics of bipedal assisted exoskeleton robot,the finite element modal analysis model was established to simulate the walking dynamic characteristics of the robot.The natural frequency and vibration characteristics of bipedal robot were extracted from the finite element results.Meanwhile,the amplification coefficient of the whole system was analyzed and calculated according to different stages of human gait.Finally,the fatigue equivalent load under the oscillating state was calculated by combining the amplification coefficient of the system,and the fatigue life of the whole system was estimated.According to the analysis results,the stability of the robot simulating human leg walking can be improved by adding reinforcing parts to the leg mechanism of bipedal robot.
作者
朱雅乔
张建华
王姣姣
尚志武
ZHU Ya-qiao;ZHANG Jian-hua;WANG Jiao-jiao;SHANG Zhi-wu(School of Mechanical Engineering,TianGong University,Tianjin 300387,China;Tianjin Sino-German University of Applied Sciences,Tianjin 300350,China;School of Mechanical Engineering,Hebei University of Technology,Tianjin 300132,China)
出处
《科学技术与工程》
北大核心
2020年第17期6916-6922,共7页
Science Technology and Engineering
基金
天津市教委科研计划(2017KJ041)。
关键词
双足助力外骨骼机器人
行走周期
模态分析
放大系数
疲劳分析
bipedal assisted exoskeleton robot
walking cycle
modal analysis
amplification coefficient
fatigue analysis
