刚柔耦合肘关节助力机构的运动学分析

Kinematics Analysis of Rigid Flexible Coupling Elbow Joint Power Assisted Mechanism

针对人们在提升重物中无法提供足够的力量,对可依附于人体的助力装置的迫切需求,提出了一种刚柔耦合的可穿戴式肘关节助力机构,为人体在提升重物过程中提供助力;解决目前传统的刚性机构笨重而不灵活,柔性机构在支撑人体质量方面有困难的问题。对机构的构型和特点进行了分析;基于螺旋理论进行了自由度计算,采用封闭矢量法进行了位置分析;运用Matlab绘制了柔索长度变化曲线图和柔索拉力变化图,得到了不同角度下的柔索长度值和拉力值;绘制了工作空间图,得到的工作空间内部连续,验证了运动学理论的正确性。该刚柔耦合肘关节助力机构运动性能良好,能够进行肘关节助力。

Aiming at people cannot provide enough strength in lifting heavy objects,an urgent need of power supporting devices attached to the human body,a wearable elbow joint power mechanism with rigid and flexible coupling is proposed to provide assistance for the human body in the lifting process.It solves the problems that the traditional rigid mechanism is bulky and inflexible,and that flexible mechanisms have difficulty in supporting the weight of the human body.The configuration and characteristics of the mechanism are analyzed.The degree of freedom is calculated based on the screw theory,the closed vector method is used for position analysis.The Matlab is used to draw the change curve of flexible cable length and flexible cable tension to obtain the flexible cable length and tension at different angles.The workspace diagram is drawn,and the internal continuity of the workspace is obtained,which verify the correctness of the kinematics theory.The rigid flexible coupling elbow joint power assisted mechanism has good motion performance and can assist the elbow joint.