气动人工肌肉驱动的可变瞬心外骨骼设计与研究  

Design and Research of Variable Instantaneous Center Exoskeletons Driven by Pneumatic Artificial Muscles

作　　者：黎朝阳 罗天洪 马翔宇 方尚晨 王珂 LI Chaoyang;LUO Tianhong;MA Xiangyu;FANG Shangchen;WANG Ke(School of Mechanical Engineering,Chongqing University of Technology,Chongqing,400054;School of Intelligent Manufacturing Engineering,Chongqing University of Arts and Sciences,Chongqing,402160;School of Mechatronics and Vehicle Engineering,Chongqing Jiaotong University,Chongqing,400074)

机构地区：[1]重庆理工大学机械工程学院,重庆400054 [2]重庆文理学院智能制造工程学院,重庆402160 [3]重庆交通大学机电与车辆工程学院,重庆400074

出　　处：《中国机械工程》2024年第10期1783-1792,共10页China Mechanical Engineering

基　　金：国家自然科学基金(52175215);重庆市英才计划(cstc2021ycjh-bgzxm0279)。

摘　　要：针对现有下肢外骨骼结构与躯体匹配度较低的问题,通过在现有反四边形关节的基础上引入额外的自由度,提出了一种气动人工肌肉驱动的新型可变瞬心人工膝关节。结合可变瞬心外骨骼的运动学分析对其瞬心轨迹方程进行了求解,并采用粒子群算法对膝关节结构进行了优化设计;采用模糊PID控制器对其运动进行了仿真与分析,并进行了实验研究。研究结果表明:提出的新型可变瞬心人工膝关节的瞬心轨迹与人体关节理想瞬心轨迹具有更好的匹配度,为具有人机相容性结构的优化设计提供参考与经验支持。Aiming at the problems of low matching between the existing lower limb exoskeleton structure and the body,a new variable instantaneous center artificial knee joint driven by pneumatic artificial muscles was proposed by introducing additional degrees of freedom on the existing anti-quadrilateral joints.Combined with the kinematics analyses of the variable instantaneous center exoskeleton,the instantaneous center trajectory equations were solved,and the particle swarm algorithm was used to optimize the design of the knee joint structures.At the same time,the PID controller was used to simulate and analyze the motions,and experimental research was carried out.The results show that the instantaneous center trajectory of the proposed new variable instantaneous center artificial knee joints has a better match with the ideal instantaneoust center trajectory of the human joints,which provides reference and empirical support for the optimal design of the human-machine compatible structures.

关 键 词：气动人工肌肉 可变瞬心 外骨骼结构 运动学分析 优化设计 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]