一种上肢搬运助力外骨骼结构设计与运动学分析

Structural Design and Kinematic Analysis of an Upper Limb Powered Exoskeleton

为解决传统搬运外骨骼人灵活性低、人机运动协同差的问题,文中设计了一种两连杆串联式5DOF肩部运动自适应跟随上肢搬运助力外骨骼,对其进行了运动学分析,提出了一种基于人机交互数学模型和运动空间比较法的结构尺寸优化方法,并进行了运动灵活性实验。研究结果表明:文中优化方法可以对结构参数进行有效优化,优化后串联式两连杆长度降低75%。结构人机协同性良好,人体穿戴/未穿戴外骨骼条件下肩部上提/下落、外展/内收轨迹皮尔逊相关系数分别为0.99、0.96,可实现上肢运动作有效跟随。

In order to solve the problems of low flexibility and poor human machine movement coordination in traditional exoskeleton handling,a two link series 5DOF shoulder motion adaptive tracking upper limb handling assist exoskeleton was designed,and its kinematics analysis was carried out.A structure size optimization method based on human machine interaction mathematical model and motion space comparison method was proposed,and the movement flexibility experiment was carried out.The results show that the proposed optimization method can effectively optimize the structural parameters,and the length of the two connecting rods in series can be reduced by 75%after optimization.The structure has good human machine cooperation.The Pearson correlation coefficients of shoulder lifting/falling and abduction/adduction trajectories are 0.99 and 0.96 respectively under the condition of wearing/not wearing the exoskeleton,which can effectively follow the upper limb movement.