被动变刚度下肢外骨骼的设计与仿真  

Design and Simulation of a Passive Variable Stiffness Lower-Extremity Exoskeleton

作　　者：何育民[1] 严伟奇 罗丹[1] HE Yu-min;YAN Wei-qi;LUO Dan(School of Mechanical and Electrical Engineering,Xi’an University of Architecture and Technology,Xi’an 710055)

机构地区：[1]西安建筑科技大学机电工程学院,陕西西安710055

出　　处：《制造业自动化》2025年第3期17-24,共8页Manufacturing Automation

基　　金：陕西省秦创源“科学家+工程师”团队建设(2022KXJ032);陕西煤化集团2022区块级科研项目(2022SMHKJ-BK-J-14)。

摘　　要：针对目前变刚度关节多采用主动驱动的问题,提出了一种被动变刚度下肢外骨骼。首先,基于下肢行走基本规律,设计了一款变刚度关节,能够根据行走步态改变关节输出刚度;其次,建立该关节的理论模型,分析关节扭矩和刚度特性;最后,建立人机耦合模型进行动力学仿真,分析关节不同初始角度对外骨骼输出扭矩和刚度特性的影响,得到关节最佳初始角度。结果表明,关节初始角度为2.5º时,外骨骼的输出扭矩结果最佳,同时它的刚度变化范围最大,此时外骨骼可以承担更多的载荷。To address the issue of the active actuation used mostly by variable stiffness joints,a lower-extremity exoskeleton with passive variable stiffness is proposed.Firstly,a variable stiffness joint is designed based on the basic walking principle of the lower limbs,which can change the output stiffness of the joint according to the walking gait.Then the theoretical model of that joint is established to analyze the joint torque and stiffness properties.Finally,a human-machine coupling model is established for dynamics simulation,and the effect of different initial angles of the joint on the exoskeleton's torque and stiffness properties is studied to obtain the optimal initial angle of the joint.The results show that the optimal output torque of the joint is achieved at an initial joint angle of 2.5°,and also has the maximum range of stiffness variation,in which case the exoskeleton can carry more loads.

关 键 词：下肢外骨骼 变刚度 负重 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]