一种减重外骨骼机构设计及动力学分析  

Design and Dynamics Analysis of a Body Weight Support Exoskeleton Mechanism

作　　者：边辉[1,2] 李二伟[1,2] 黄志影 陈振宇 

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛066004 [2]先进锻压成形技术与科学教育部重点实验室(燕山大学),河北秦皇岛066004 [3]中国一重集团重型技术装备基础科学研究院,辽宁大连116600 [4]中国一重集团大连设计研究院有限公司,辽宁大连116600

出　　处：《机械设计与制造》2017年第12期251-254,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金(51305380);河北省自然科学基金(E2015203144)

摘　　要：随着社会老龄化,外骨骼技术逐渐应用于助老领域,针对存在下肢退化性关节炎老年人行走过程中需减轻自身重量对承重关节压迫的具体需求,分析了减重外骨骼构型特点,并在此基础上设计了一种基于2-UPS机构的减重外骨骼。外骨骼与人体通过骨盆及前脚掌连接构成单闭环,应用闭环矢量法建立外骨骼运动学模型。基于老年人常速行走过程中下肢关节角度变化关系,计算外骨骼主、被动运动副在一个步态周期的速度和加速度。应用拉格朗日法分别对行走过程中双腿支撑相和单腿支撑相进行动力学分析,并通过Adams仿真软件验证了动力学模型的正确性。The exoskeletons technology is used in the field of helping the elderly as society ages. Aiming at the specific requirement of reducing the force on the weight-bearing joints caused by body weight for the elderly with degenerative arthritis during walking, the configuration features of the body weight support exoskeletons are analyzed. On that basis, a body weight support exoskeleton based on 2-UPS mechanism is designed by applying the design concept of monoeycle bio-syneretic exoskeleton. The exoskeleton and the human body constitute a single closed loop by connection at the pelvis and forefoot, and the kinematics model of the exoskeleton is established by using closed-loop vector method. In a gait cycle, the velocities and accelerations of the active and passive kinematic pairs of the exoskeleton are calculated according to the angles of the lower extremity joints during normal speed walking of the elderly. The dynamic models of the exoskeleton during double support phase and single support phase are established respectively by using lagrangian method,and it is verified by the Adams software.

关 键 词：减重 外骨骼 机构设计 运动学分析 动力学分析 

分 类 号：TH16[机械工程—机械制造及自动化]