基于摇杆滑块机构的外骨骼肘关节优化设计  

Optimal Design of Extremity Exoskeleton Elbow Joint Based on Rocker Slider Mechanism

作　　者：马相林 黄嘉昕 茅琨 李耀 吴洪涛[2] MA Xianglin;HUANG Jiaxin;MAO Kun;LI Yao;WU Hongtao(Industrial Center,College of Innovation and Entrepreneurship,Nanjing Institute of Technology Nanjing,211167,China;College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and AstronauticsNanjing,210016,China)

机构地区：[1]南京工程学院工业中心、创新创业学院,南京211167 [2]南京航空航天大学机电学院,南京210016

出　　处：《振动．测试与诊断》2023年第6期1217-1224,1250,共9页Journal of Vibration,Measurement & Diagnosis

基　　金：国家自然科学基金面上资助项目(51975277);南京工程学院引进人才科研启动基金资助项目(YKJ202042);江苏省先进数控技术重点实验室开放基金资助项目(SYKJ2103);教育部规划基金资助项目(23YJA630016)。

摘　　要：针对当前上肢外骨骼肘关节活动范围受限和助力效果不佳的问题,设计了一种基于摇杆滑块机构的上肢外骨骼。通过D-H参数建立上肢体外骨骼机构的运动学模型,对其工作空间进行了分析。基于摇杆滑块机构进行上肢体外骨骼的结构设计,并对其进行力学分析,为气缸选型提供依据。基于ADAMS软件建立的参数化模型进行上肢体外骨骼肘关节尺寸优化,优化后的肘关节运动范围提升显著。通过ANSYS软件对关键部件进行了强度校核,搭建物理样机采集上肢肌电信号进行助力性能评估,验证了上肢体外骨骼机构具有较好的助力效果。Aiming at the limitation of elbow joint movement and poor power assist effect,an upper limb exoskeleton based on rocker slider mechanism is designed.The kinematics model of the upper limb exoskeleton mechanism is established by D-H parameters,and its working space is analyzed.Based on the rocker slider mechanism,the structure of the upper limb exoskeleton is designed,and the mechanical analysis is carried out to provide the basis for cylinder selection.Based on the parametric model established by ADAMS,the elbow joint size of the upper limb exoskeleton is optimized,and the range of motion of the elbow joint is significantly improved after optimization.The strength of key components is checked by ANSYS,and a physical prototype to collect upper limb electromyography signals for assistance performance evaluation is built,which verified that the upper limb exoskeleton mechanism has a good power assist effect.

关 键 词：上肢外骨骼 摇杆滑块机构 尺度优化设计 瞬态结构分析 肘关节弯举试验 

分 类 号：TH112[机械工程—机械设计及理论]