摘要
无动力外骨骼助力机器人具有无能耗、成本低、使用便捷等优势,可广泛应用于工业制造、医疗康复等多个领域。系统阐述了无动力外骨骼助力机器人的定义与分类,介绍了助力原理;绘制了国内外典型无动力外骨骼助力机器人机构运动简图并简述了相应的结构原理;最后根据调研结果归纳了现阶段存在的不足、需要突破的关键技术等。对于无动力外骨骼助力机器人的研究与应用具有一定的参考价值。
Unpowered exoskeleton assist robots have the advantages of no energy consumption,low cost and convenient use,which can be widely used in industry manufacture,medical rehabilitation and other fields.The definition and classification are expounded systematically and the principles are introduced.The kinematic diagram of typical domestic and foreign unpowered exoskeleton assist robot is drawn and the corresponding structure principle is briefly described.Finally,the shortcomings,key technologies that need to be broken through are summarized based on the survey results.It should be helpful for those researchers devoted to unpow⁃ered exoskeleton support robots.
作者
申京玉
张仕民
陈冲
许秩铫
Shen Jingyu;Zhang Shimin;Chen Chong;Xu Zhiyao(College of Mechanical and Transportation Engineering,China University of Petroleum(Beijing),Beijing 102249,China)
出处
《机械传动》
北大核心
2020年第2期166-176,共11页
Journal of Mechanical Transmission
