摘要
在提出一种具有仿生交变穿戴接触刚度的膝关节外骨骼人-机物理交互(穿戴)系统研究原型的基础上,开展穿戴系统参数优化分析,用于实现其穿戴舒适性与承载有效性的提高。首先,基于Ansys软件平台,搭建系统虚拟样机模型;其次,基于仿真分析,构造一种计及外骨骼缓冲层结构、材料参数为设计参变量的可穿戴性新型综合评价指标——穿戴舒适度,并获取后续优化初始数据种群;最后,针对穿戴舒适度指标开展多目标遗传优化分析,以寻找外骨骼穿戴系统的设计参数最优值。仿真分析表明,大腿肌群穿戴处最大等效应力(Von-Mises)有效值相对优化前降低44.45%,最大有效变形降低2.86%,有效受力结点数占比提高1.75%。因此,仿真结果可佐证上述人-机并联物理交互系统设计与其性能优化方法的有效性与合理性。
A research prototype of a knee joint exoskeleton human-machine physical interaction(wearing)system with biomimetic alternating wear contact stiffness is proposed.On this basis,the parameter optimization analysis of the wearable system is carried out.In this way,the wearing comfort and load-carrying effectiveness can be improved.First,a system virtual prototype model is built based on Ansys software platform.Secondly,based on the simulation analysis,a new comprehensive evaluation index of wearability is constructed,which takes into account the exoskeleton buffer layer structure and material parameters as design parameters.Then,the optimized initial data population is obtained.Finally,a multi-objective genetic optimization analysis is carried out based on wearing comfort index to find the optimal value of the design parameters of the exoskeleton wearing system.The simulation analysis shows that the effective value of the maximum equivalent stress(Von-Mises)of the thigh muscle group is reduced by 44.45%compared with before optimization;the maximum effective deformation is reduced by 2.86%;the proportion of effective force nodes is increased by 1.75%.Therefore,the design and performance optimization method of the human-machine physical interaction system is verified by the simulation results,which proves the effectiveness and rationality of this method.
作者
齐文耀
杨玉维
周祖意
QI Wenyao;YANG Yuwei;ZHOU Zuyi(Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384,China)
出处
《天津理工大学学报》
2024年第5期86-93,共8页
Journal of Tianjin University of Technology
基金
国家重点研发计划“智能机器人”重点专项(2017YFB1303502)。
关键词
膝关节外骨骼机器人
穿戴舒适度
人-机并联
多目标遗传算法
knee joint exoskeleton robot
wearing comfort
human-machine parallel
multi-objective genetic algorithm
