气动肌肉变瞬心外骨骼膝关节设计与研究  

Design and Study of Pneumatic Muscle Transient Core Exoskeleton Knee Joint

作　　者：廖理 罗天洪 马翔宇 梁爽 崔庭琼 刘晨杰 LIAO Li;LUO Tianhong;MA Xiangyu;LIANG Shuang;CUI Tingqiong;LIU Chenjie(College of Mechanical Engineering,Chongqing University of Technology,Chongqing 400000,China;School of Intelligent Manufacturing Engineering,Chongqing University of Arts and Sciences,Chongqing 402160,China)

机构地区：[1]重庆理工大学机械工程学院,重庆400000 [2]重庆文理学院智能制造工程学院,重庆402160

出　　处：《机床与液压》2025年第2期106-112,共7页Machine Tool & Hydraulics

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

摘　　要：针对现有气动肌肉外骨骼膝关节柔顺性较低的问题,引入交叉四连杆与仿人体驱动机构,提出一种新型气动肌肉变瞬心外骨骼膝关节。结合人体膝关节特点,设计外骨骼膝关节结构,并建立关节的运动学与动力学模型,搭建变瞬心滑膜控制器,对其运动进行仿真分析及实验。结果表明:基于关节模型的变瞬心滑膜控制器可实现关节角度跟踪,该新型关节能够按照期望轨迹运动,最大角度误差为2.84°,满足外骨骼的设计要求,为人机相容性结构设计提供了参考。Aiming at the low flexibility of the existing pneumatic muscle exoskeleton knee joint,a novel pneumatic muscle transient core knee joint was proposed by introducing a cross four link and a human-like driving mechanism.Combined with the characteristics of the human knee joint,the exoskeleton knee joint structure was designed,and the kinematic and dynamic models of the joints were established.The transient cardiac synovial controller was built to simulate and analyze its motion,and experimental research was carried out.The results show that the joint angle tracking can be realized by the variable central synovial controller based on the joint model.The new joint can move according to the expected trajectory with a maximum angle error of 2.84°,which meets the requirements of exoskeleton design and provides reference for the design of human-machine compatible structures.

关 键 词：变瞬心外骨骼 结构设计 轨迹跟踪 动力学模型 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]