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基于柔性膝关节的外骨骼设计与动力学研究
Authors
丙琪 贾
学昱 乔
+3 more
彦峻 赵
朝 厉
淼 陈
Publication date
1 January 2019
Publisher
Editorial Office of Journal of Mechanical Transmission
Doi
Cite
Abstract
为了兼顾外骨骼动力的线性输出与穿戴过程的安全性,设计了一款包含助力与缓冲两种工作模式的下肢外骨骼。首先,对外骨骼膝关节缓冲器及整机模型进行了参数计算与结构设计;然后,对其做动力学分析并通过Matlab计算得到关节理论力矩;将计算所得参数与理论力矩分别代入Adams,对两种工作模式下的外骨骼进行仿真试验;通过对比仿真结果与人体运动标准数据,证明外骨骼助力模式可基本满足穿戴者正常行走需要,缓冲模式可在突发状况下缓冲刚性冲击。研究结果为后期系统的控制与模型制造提供了重要的理论依据
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Last time updated on 06/04/2023