摘要
针对目前重物搬运困难、人体搬运效率低的问题,提出一种含弹簧储能元件的辅助负重下肢外骨骼,并对其刚度进行优化。首先,建立了该外骨骼的运动学模型,明确了各部件的运动关系;其次,通过建立步态支撑周期内的力学模型,确定各关节由负载产生的力矩与刚度的关系;最后,以各关节由负载产生的有效转矩之和最小为目标、以刚度为参数建立模型,采用遗传算法进行刚度优化,并穿戴实体样机进行实验验证外骨骼性能。结果表明:穿戴对刚度进行优化后的无动力外骨骼可有效降低人体在负重行走时的能耗,减小人体骨骼受力。
Facing the difficulty of carrying heavy goods and the low efficiency of carrying, a lower extremity exoskeleton is designed to withstand loads with a spring energy-stored element,and the stiffness of its spring is optimized. Firstly, the kinematics model of the lower extremity exoskeleton is established to determine the relationship between the component. Secondly, the relationship between the torque of each joint and the stiffness is obtained by establishing the mechanical model during a supporting gait circle. Finally, based on the minimum effective torque of the joint, an optimization model which is about stiffness is deduced, and it’s optimized by GA,and the performance of the exoskeleton is verified by the protype. The simulation result shows that when people wear the lower extremity exoskeleton for carrying, the stiffness could decrease the total effective torque.
作者
朱策策
张建军
阎强
吴锦辉
ZHU Cece;ZHANG Jianjun;YAN Qiang;WU jinhui(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,China)
出处
《机械设计与研究》
CSCD
北大核心
2019年第3期25-29,36,共6页
Machine Design And Research
基金
国家自然科学基金(51175144)
天津市自然科学基金(17JCZDJC40200)资助项目
关键词
辅助负重下肢外骨骼
储能
刚度优化
遗传算法
the lower extremity exoskeleton for loading assistance
energy-stored
optimization of stiffness
GA
