一种上肢助力外骨骼结构设计与仿真分析  

Design and Experiment of Upper Limb Assistive Exoskeleton

作　　者：解利 尚雅层[1] 常宏 XIE Li;SHANG Yaceng;CHANG Hong(School of Mechatronic Engineering,Xi'an Technological University,Xi'an 710021;Xi'an Polaris Etek Electronic Technology Co.,Ltd.,Xi'an 710399)

机构地区：[1]西安工业大学机电工程学院,西安710021 [2]西安北辰亿科电子科技有限公司,西安710399

出　　处：《现代制造技术与装备》2023年第11期19-21,共3页Modern Manufacturing Technology and Equipment

摘　　要：通过简化人体搬运动作,建立人体穿戴外骨骼搬运重物模型,设计一种用于长距离搬运的无源上肢助力外骨骼,通过卷簧带动齿轮减速机构为人体手臂助力,具有结构简单、体积小、重量轻的优点。对人体手臂搬运动作进行运动学仿真,结果表明,外骨骼可随手臂在该运动空间内运动,并对外骨骼进行动力学仿真分析,仿真结果满足设计要求。This article simplifies human body handling actions,establishes a model of human body wearing exoskeletons to carry heavy objects,and designs a passive upper limb assist exoskeletons for long-distance transportation.The gear reduction mechanism is driven by a coil spring to assist the human arm,which has the characteristics of simple structure,small volume,and light weight.Kinematic simulation was conducted on the human arm handling movement,and the results showed that the exoskeleton could move with the arm in the motion space.Dynamic simulation analysis was conducted on the exoskeleton,and the simulation results met the design requirements.

关 键 词：外骨骼 手臂助力 仿真分析 

分 类 号：TH122[机械工程—机械设计及理论] TP391.9[自动化与计算机技术—计算机应用技术]