下肢微重力模拟外骨骼系统的研究  

Research on Exoskeleton System for Lower Limb Low Gravity Simulation

作　　者：吴岳桥 梁国星 李志利[2] 戴小倩 李文炯[2] 刘书娟[2] 张剑峰 WU Yueqiao;LIANG Guoxing;LI Zhili;DAI Xiaoqian;LI Wenjiong;LIU Shujuan;ZHANG Jianfeng(College Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan 030024,China;State Key Lab of Space Medicine Fundamentals and Application,China Astronaut Research and Training Center,Beijing 100094,China)

机构地区：[1]太原理工大学机械与运载工程学院,太原030024 [2]中国航天员科研训练中心航天医学基础与应用国家重点实验室,北京100094

出　　处：《载人航天》2023年第2期192-199,共8页Manned Spaceflight

基　　金：载人航天工程航天医学实验领域项目(HYZHXM01003);试验鉴定技术研究项目(2021SY54B0513)。

摘　　要：针对悬吊式微重力环境模拟系统无法补偿人体下肢重力负荷的不足,设计了用于补偿人体下肢重力负荷的外骨骼系统。外骨骼系统采用被动重力补偿方法实现对下肢的重力补偿,能够对重力补偿水平进行调节控制。根据重力补偿原理,采用刚度矩阵法,对重力补偿设计公式进行推导,建立弹簧参数与系统几何惯性参数之间的关系。研究分析重力补偿对人体下肢系统动力学性能的影响,最后利用ADAMS软件对下肢系统模型进行仿真,仿真结果验证了外骨骼系统重力补偿原理和设计公式的正确性以及在实际运用中的可行性和合理性。The suspended low-gravity environmental simulation system could not compensate for the gravity load of the human lower limbs.To solve this problem,an exoskeleton system for compensating the gravity load of the human lower limbs was designed.The passive gravity compensation method was adopted in the exoskeleton system to achieve gravity balance of the lower limbs,and the level of gravity compensation could be adjusted and controlled.According to the principle of gravity compensation,the stiffness matrix method was used to derive the gravity balance design formula and the relationship between the spring parameters and the geometric inertia parameters of the system was established.Then the gravity compensation on dynamic performance of human lower limb system was studied and analyzed.In the end,the system model was simulated by ADAMS software,and the correctness of the gravity compensation principle and design formula of the exoskeleton system,as well as the feasibility and rationality in practical application were all verified.

关 键 词：微重力环境模拟 被动外骨骼 势能守恒 弹簧辅助杆件机构 

分 类 号：V416.5[航空宇航科学与技术—航空宇航推进理论与工程]