一种串联式三自由度髋关节机构的设计与分析  

An Investigation Into The Hip Joint Mechanism With A Series of Three Degrees of Freedom Structure

作　　者：裴翔[1] 李渠成 金丁灿 孙杰[1] 贾文昂[1] 宋扬 

机构地区：[1]浙江工业大学特种装备制造与先进加工技术教育部重点实验室,杭州310000 [2]三联集团上海申磬产业公司,上海200120

出　　处：《机械设计与研究》2014年第6期43-46,共4页Machine Design And Research

基　　金：浙江省自然科学基金(LY12E05026);国家自然科学基金资助项目(51105337)

摘　　要：分析了人体髋关节运动规律和运动形式,提出了一种串联式三自由度外骨骼机器人髋关节机械结构。外骨骼机器人髋关节屈/伸主"迈腿"运动采用平面四杆机构来实现其大范围的运动,并利用矢量分析法分析了液压缸输出位移、速度、加速度与屈/伸运动的角度、加速度、角加速度的关系,应用Ds Solid Works软件自带的Solid Works Motion运动仿真插件对其进行仿真分析,得出其关系线图,为外骨骼机器人髋关节设机械结构计提供一定的设计依据。We propose a series of mechanical structure with three degrees of freedom used in the exoskeleton robot hip joint which based on the analysis of the human hip joint movement form and the motion law. The main movement flexion / extension of the exoskeleton robot hip joint uses a four-bar linkage mechanism to achieve its large range of motion,and analyzes the relationship between the output displacement,velocity,acceleration of the hydraulic cylinder and the output angular displacement,angular velocity,angular acceleration of the flexion / extension movement. Using Solid Works Motion,a motion simulation plug-in application provided by Ds Solid Works software,so the lelationship graphs of those parameters can be obtained,which will provides design basis for the exoskeleton robot mechanical structure of the hip joint.

关 键 词：外骨骼机器人 髋关节 平面四杆机构 屈/伸运动 

分 类 号：TH112.1[机械工程—机械设计及理论]