面向畸形矫治的可重构线位移变刚度关节设计与特性研究  

Design and characteristic research of a reconfigurable variable stiffness joint with linear displacement for deformity correction

作　　者：周杰 吴小勇 汪从哲 王玉金 Zhou Jie;Wu Xiaoyong;Wang Congzhe;Wang Yujin(School of Mechanical Engineering,Chongqing University of Technology,Chongqing 400054,China;Sports Medicine Center,First Affiliated Hospital,Army Medical University,Chongqing 400038,China;School of Advanced Manufacturing Engineering,Chongqing University of Posts and Telecommunications,Chongqing 400065,China)

机构地区：[1]重庆理工大学机械工程学院,重庆400054 [2]陆军军医大学第一附属医院运动医学中心,重庆400038 [3]重庆邮电大学先进制造工程学院,重庆400065

出　　处：《仪器仪表学报》2023年第12期187-198,共12页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(52305248);中国博士后科学基金(2023M734262);重庆市教委项目(HZ2021011)资助。

摘　　要：为满足肢体矫形机器人在矫治过程中对跨区间刚度动态调整的迫切需要,借鉴凸轮和斜劈滑块变刚度原理,创新地提出了一种基于斜劈凸轮的新型可重构线位移变刚度关节。阐明了通过调整斜劈凸轮机构组数、弹簧刚度、斜劈下降距离,实现关节刚度重构的工作原理,并以此开展关节系统设计。揭示了关节主、被动变刚度机制,构建了关节等效刚度模型。借助数值分析软件,建立了关节变刚度理论数学模型,研究了关节等效输出刚度和输出力的分布特性。建立了关节虚拟样机模型,开展了关节性能仿真,验证了关节刚度理论模型的正确性。将所设计变刚度关节应用于肢体矫形机器人,关节等效输出刚度在34.08~2762.64 N·mm^(-1)间调整时,矫形机器人刚度可在689.94~6250.41 N·mm^(-1)间调控,满足畸形矫治作业需求。Inspired by the stiffness adjustment principle of the cam and slope-slider mechanisms,a novel reconfigurable variable stiffness joint with linear displacement based on the slope-cam mechanisms is proposed to meet the dynamic trans-interval stiffness adjustment requirement of orthopedic robots during the correction process.Stiffness reconstruction is achieved by adjusting the number of slope-slider mechanisms,spring stiffness,and slope displacement,while the corresponding working principle is illustrated in detail.The joint is designed comprehensively.The active and passive stiffness adjustment mechanism are revealed,and the equivalent stiffness model is formulated.Resorting to numerical analysis software,the mathematical model of stiffness adjustment is established,and the distribution characteristics of equivalent output stiffness and output forces are studied.The virtual prototype model of the joint is established,and the performance simulation analysis is carried out to evaluate the correctness of the theoretical stiffness model.The proposed variable stiffness joint is applied to an orthopedic robot.The equivalent output stiffness of the joint can be adjusted between 34.08 to 2762.64 N·mm^(-1),and the corresponding stiffness of the orthopedic robot can be controlled within the range of 689.94~6250.41 N·mm^(-1),which meets the requirement of deformity correction.

关 键 词：变刚度关节 机器人 畸形矫治 可重构 

分 类 号：TH12[机械工程—机械设计及理论]