液压驱动型负重外骨骼机器人液压系统设计  

Hydraulic System Design of Hydraulic-Driven Load Exoskeleton Robot

作　　者：周加永[1] 张昂[1] 莫新民[1] 赵浩[1] 纪平鑫[1] 

机构地区：[1]西北机电工程研究所,陕西咸阳712099

出　　处：《机床与液压》2016年第21期30-34,共5页Machine Tool & Hydraulics

摘　　要：从人体运动特征出发,分析了液压驱动负重外骨骼机器人的整体骨架结构。根据负重外骨骼机器人的特点要求设计了一套完整的液压传动系统,对液压系统中液压泵、伺服阀和液压缸等主要元件进行了选型计算。利用Simhydraulics软件建立了负重外骨骼机器人液压系统仿真原理图,并对液压系统进行了仿真分析研究,由仿真结果证明了所设计液压系统的合理性。最后对液压驱动型负重外骨骼机器人技术面临的挑战进行了分析,为该液压系统的深化设计提供了参考。Started from human motion characteristics, the hydraulic drive overall load exoskeleton robot skeleton structure was analyzed. According to the characteristics of the load exoskeleton robot, a complete hydraulic drive system was designed, and the main elements of the selection calculation were carried out as hydraulic system, hydraulic pumps, servo valves and hydraulic cylinders, and etc. Simhydraulics software was used to establish the simulation schematics for hydraulic system of load exoskeleton robot, study and simulation analysis were carried out for the hydraulic system, and simulation results were proved of the rational design of the hydraulic system. In the last, technology challenges faced by the hydraulic drive load exoskeleton robot are analyzed, which provide reference for further design of the hydraulic system.

关 键 词：负重外骨骼机器人 液压系统 选型计算 Simhydraulics 

分 类 号：TH137[机械工程—机械制造及自动化]