单兵外骨骼智能助跃系统的原理机构设计与仿真  

Principium Mechanism and Simulation Design of a Soldier Exoskeleton Jumping Intelligence System

作　　者：陈晓[1] 霍宇嘉[2] 周宏[1] 李志强[2] 

机构地区：[1]总后军需装备研究所,北京100082 [2]北京航空航天大学,北京100191

出　　处：《机械科学与技术》2011年第6期968-972,977,共6页Mechanical Science and Technology for Aerospace Engineering

摘　　要：人机合一的下肢外骨骼助力装置是未来单兵提高携行、机动能力的先进手段,人体运动特征的识别、智能化助力机构的设计是其关键技术。用VICON 460红外动作捕捉系统、NOVEL压力鞋垫和CASIO高速相机对真实的人体下肢运动进行数据采集和分析处理,归纳出可以识别运动的关键特征参数,进而在UG中建立单兵外骨骼系统的简化模型,并在ADAMS里进行静力学、动力学和运动学仿真计算。研究结果表明:外骨骼智能助跃系统的原理样机工作有效,可以作为实际样机的设计参考,实现对单兵下肢承重及跳跃能力的增强。The lower limb exoskeleton supporting intelligence systems can be used to effectively improve the carrying and movement ability of the soldiers in the future, with the key techniques of the human motion characteristics recognition and the supporting intelligence mechanism design. Human lower limbs movement data had been collect- ed by using the VICON 460 infrared motion capture system, NOVEL insole plantar pressure measure system and CASIO high speed camera. After the data had been researched, the key characteristics parameters were obtained for the human motion recognition. The simplified model of the lower limb exoskeleton intelligence system had been accomplished under Unigraphics NX6. 0 and exported into ADAMS R3 for the kinematics and dynamics simulation. The results indicate that this prineipium prototype system can be used to enhance human lower limb carrying and hopping ability effectively, and can be used as design reference for the actual system.

关 键 词：单兵 外骨骼 智能 仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]