外骨骼膝关节构型设计与分析  

Design and Research of Exoskeleton Knee Joint Configuration

作　　者：崔心惠 方红 朱山川[1] CUI Xin-hui;FANG Hong(College of Electrical Engineering,Chuzhou Polytechnic,Chuzhou Anhui 239000,China;Shanghai Puma Mechanical and Electrical Engineering Technology Co.,Ltd.,Shanghai 200333,China)

机构地区：[1]滁州职业技术学院电气工程学院,安徽滁州239000 [2]上海浦马机电工程技术有限公司,上海200333

出　　处：《兰州工业学院学报》2021年第6期71-76,共6页Journal of Lanzhou Institute of Technology

基　　金：安徽省高校自然科学研究重点项目(KJ2019A0646);2020年度安徽省高校优秀青年人才支持计划重点项目(gxyqZD2020068);2020年校级科研一般项目(YJY-2020-25).

摘　　要：针对长时间的半蹲姿势加重膝关节承重问题,提出了一种新型外骨骼膝关节设计.首先,基于螺旋理论对机构的可动性进行分析,并通过对外骨骼关节进行运动学分析并建立雅可比矩阵;进而利用虚功原理推导出关节的全刚度矩阵;最后,分析了机构在静载荷下的变形情况,给出关节的空间变形规律.仿真结果表明:该新型骨骼漆关节设计可用于任意转角的锁紧,为外骨骼膝关节的进一步研究提供了理论参考依据.Aiming at the problem that the long-time half squat posture aggravates the load-bearing of knee joint,a new type of exoskeleton knee joint design is proposed.Firstly,the mobility of the mechanism is analyzed based on the screw theory,and the Jacobian matrix is established by kinematic analysis of exoskeleton joint.Then the full stiffness matrix of the joint is derived by using the principle of virtual work.Finally,the deformation of the mechanism under static load is analyzed,and the spatial deformation law of the joint is given.The simulation results show that the new design can be used for locking at any angle,which provides a theoretical reference for the further research of exoskeleton knee joint.

关 键 词：外骨骼膝关节 静刚度 构型设计 

分 类 号：TH137[机械工程—机械制造及自动化]