单兵背负式外骨骼担架的设计与分析

Design and analysis of shoulder type exoskeleton stretcher for individual soldier

针对在海军舰艇上救助伤员的搬运环节,本文设计了一款新型单兵背负式外骨骼担架搬运装置。利用三维建模软件构建了单兵背负式外骨骼担架的三维模型,通过有限元分析技术对所设计的外骨骼担架开展静力学仿真、模态分析和瞬态动力学分析。结果表明,平地行走时,外骨骼担架的最大应力为265.55 MPa,低于其制作材料的许用强度,且整体变形小;模态分析得到的各步态下外骨骼担架的固有频率范围为1.96~28.70 Hz,与人体行走时的摆动频率1 Hz差别较大,表明所设计的结构可以有效避免共振现象的发生。瞬态动力学分析结果表明,外骨骼担架的最大形变和应力均在安全范围之内,满足预期性能要求。综上,本研究设计的单兵背负式外骨骼担架可解决现有担架需2人以上搬运的问题,尤其适用于海军舰艇狭小空间,可为海军舰艇上的伤员救助提供新的方案。

For the transportation process of rescuing wounded personnel on naval vessels,a new type of shoulder type exoskeleton stretcher for individual soldier was designed in this paper.The three-dimensional model of the shoulder type exoskeleton stretcher for individual soldier was constructed using three dimensional modeling software.Finite element analysis technique was employed to conduct statics simulation,modal analysis,and transient dynamics analysis on the designed exoskeleton stretcher.The results show that the maximum stress of the exoskeleton stretcher for walking on flat ground is 265.55 MPa,which is lower than the allowable strength of the fabrication material.Furthermore,the overall deformation of the structure is small.Modal analysis reveals that the natural frequency range of the exoskeleton stretcher under different gait conditions is 1.96 Hz to 28.70 Hz,which differs significantly from the swing frequency of 1 Hz during walking.This indicates that the designed structure can effectively avoid resonance.The transient dynamics analysis results show that the maximum deformation and stress of exoskeleton stretcher remain within the safety range,which meets the expected performance requirements.In summary,the shoulder type exoskeleton stretcher for individual soldier designed in this study can solve the problem of requiring more than 2 people to carry for the existing stretcher,especially suitable for narrow spaces of naval vessels.The research results of this paper can provide a new solution for the rescue of wounded personnel on naval vessels.