形状记忆合金驱动的外骨骼设计与控制研究  

Research on Design and Control of Shape Memory Alloy-Driven Exoskeleton

作　　者：李忠凯 张佳琦[1] LI Zhongkai;ZHANG Jiaqi(School of Mechanical Engineering,Shenyang Ligong University,Shenyang 110159,China)

机构地区：[1]沈阳理工大学机械工程学院,沈阳110159

出　　处：《组合机床与自动化加工技术》2025年第3期109-113,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：受限于驱动原理,主动外骨骼机器人体积大、结构复杂;被动外骨骼机器人助力能力较弱、不能主动调节功率密度与时间的匹配关系。针对上述问题,提出基于形状记忆合金丝(SMA)的半主动式踝关节外骨骼机器人。首先,分析人体步态进行过程中的力和位移,确定设计参数;然后,对踝关节外骨骼机器人的整体与核心驱动源进行设计,构建基于形状记忆合金的半主动式踝关节外骨骼机器人,重约314 g,踝关节旋转15°;最后,通过实验研究,验证本外骨骼机器人能够储能1150 J,为踝关节提供有效助力。Limited by the driving principle,the active Exoskeleton is large in size and complex in structure;The passive Exoskeleton has weak power assistance ability and cannot actively adjust the matching relationship between power density and time.To solve these problems,this paper proposes a semi-active ankle joint Exoskeleton based on shape memory alloy wire(SMA).Firstly,the force and the displacement of human gait are analyzed to determine design parameters;Then,The whole and core driving source of the ankle Exoskeleton are designed.The entire ankle exoskeleton has a mass of approximately 314 g,and the ankle joint can rotate 15°.Finally,through experimental verification,it is verified that the Exoskeleton can store 1150 J of energy and provide effective assistance for the ankle joint.

关 键 词：形状记忆合金 踝关节外骨骼机器人 开环控制 半主动外骨骼机器人 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]