一种外骨骼负重重心波动调节机构设计与研究  

An Exoskeleton Adjustment Mechanism for the Fluctuation of Load's Center of Gravity

作　　者：李志伟[1] 邓斌[1] 何沛恒 郝骞[2] LI Zhi-wei;DENG Bin;HE Pei-heng;HAO Qian(Ministry of Education Engineering Research Center for Advanced Driving and Energy-saving Technology, Southwest Jiaotong University, Chengdu, Sichuan 610031;School of Information and Communication Engineering, North University of China, Taiyuan, Shanxi 030051)

机构地区：[1]西南交通大学先进驱动节能技术教育部工程研究中心,四川成都610031 [2]中北大学信息与通信工程学院,山西太原030051

出　　处：《液压与气动》2020年第5期62-67,共6页Chinese Hydraulics & Pneumatics

基　　金：2018年度山西省重点研发计划国际合作项目(201803D421028)。

摘　　要：针对下肢外骨骼机器人在使用过程中,负重重心在矢状面垂直方向上的轨迹波动造成的能量消耗和冲击等问题,在常规双驱动单元外骨骼的髋部和背部设计了一种新型的连杆绳轮机构。该机构使外骨骼所承载的负重在人体重心在矢状面内做波浪形轨迹运动时与之做方向相反的运动,减小负重重心的轨迹波动,增加人体负重行走时的稳定性。在分析人体重心在行走状态下矢状面内的运动轨迹的基础上,确定了新机构的结构方案和尺寸。运用Denavit-Hartenberg方法和连杆设计理论求解出外骨骼在装备和未装备髋背机构时负重的重心轨迹,最后通过ADAMS的运动仿真进行验证,结果表明:这种髋背机构可明显降低负重重心的轨迹波动。In order to reduce the extra energy consumption and the impact caused by the reduction of the center of gravity in the use of the lower extremity exoskeleton robot.A new type of link rope wheel mechanism is designed in the hip and back of the exoskeleton.The mechanism makes the load borne by the exoskeleton move in the opposite direction when the center of gravity of the human body moves in the wave shaped track in the sagittal plane,reduces the track fluctuation of the center of gravity of the load,and enhances the stability of the human body when walking with the load.Based on the analysis of the trajectory of the center of gravity of human body in the sagittal plane,the structure scheme and size parameter of the new mechanism are determined.Using Denavit Hartenberg method and linkage design theory,the center of gravity trajectory of exoskeleton with and without hip back mechanism is calculated.Through the verification by dynamic simulation of Adams,the results show that this kind of hip back mechanism can significantly reduce the track fluctuation of the weight center of gravity.

关 键 词：外骨骼 重心轨迹 连杆绳轮机构 髋背机构 

分 类 号：TH137[机械工程—机械制造及自动化] TH112