1、 ? ID: 1 nullbk .Q c m !9 e D. Z: ZYv,2005. 2 null Z +, . #M1/ J . /,2005, (4): 31- 36. 3 null b,f +. e/ M .: S,2009. 4 null1. M .: bv,2000. 5 null null1. L YS e D . Z: ZYv,2008.6 nullf +, y, b. 7b T e“d qPetriZE J . ZYv() ,2009, (11) :1775- 1779.Te:bnullnull ( 1985- ), 3, B , V 3,Z_+ e“d;f +null (1
2、970- ), 3, a g, q,Z_+ .外骨骼负重机器人液压缸的设计$a,null!(北京航空航天大学能源与动力工程学院,北京100191)Research on the Design of Hydraulic Cylinder of Exoskeleton Load CarrierGU Zhen-bing, CHENG Tao(School of Jet Propulsion, Beihang U niversity,Beijing 100191,China)null nullK1:首先介绍了外骨骼负重机器人的基本组成和工作原理.然后利用动力学仿真软件ADAMS建立外骨骼机器人的虚拟样
3、机,并进行动力学仿真,获得了行走过程中膝关节的驱动力矩.最后根据仿真结果对外骨骼负重机器人驱动系统的驱动器液压缸进行设计.1oM: ;ADAMS; _;Ams |:TP242.3; TH137.51DS M :AcI|: 1001-2257(2012) 07-0077-04l : 2012-02-22Abstract:This paper firstly introduces thebas-ic composition and working principle of the exo-skeleton load carrier. Then the virtual prototype ofthe
4、 exoskeleton load carrier is established by AD-AMS, and does dynamic simulation to get drivingtorques of knee during walking. Finally hydrauliccylinder is designed according to theresults of sim-ulation.Key words: exoskeleton; ADAMS; dynamicsimulation; hydraulic cylinder0 null 引言 B B81 ,z 8/ 8, null
5、8 “ ,G L e ,YV ? 1 L cx 8 / ;I x 38 ; I y O8 ; I z 8 .2.3null _ z 411M, |CGAS o94 , zf 4“Hf AKISPL._ !B ,_ V1 .1 1 z ,A !9SI. m3 U1 z M wL.m3 null1 z 3 null 外骨骼负重机器人液压缸设计A z“d z , !9 aA n51 A , 4 ,K !9A ?14 z .3.1nullA 4A vy ly W1 y %4 ,yN4T A, m4 U.m4 nullT A AKvw 9 T /:Fmax push= p Snull nullD24 (
6、1)Fmax push= - p Snull null(D2- d2 )4 (2),p SA .3.2nullA 9 A+ m5 U.m5nullA+ L 1vyA yZ_g1 ;L 2lyA yZ_g1 ; r1vyA 1 ;r 2lyA 1 ;null1vy 1 Lvy C;null2ly 1Lly C;AA_ ; RA D;null1, 0nullnull nullnull 126null./ 9 V.vy)A US:x1= r1sinnull1y1= r1cosnull1ly)A US:x2= r2sinnull2y2= r2cosnull2 i H Yly)A US:x= r2sin
7、(null2+ null)y= - r2cos(null2+ null)A= (r 2sin (null2+ null) - r1sin ,- r2cos (null2 + null) -r2cosnull2 ) (3)nullAnull= r21+ r22- 2r1r2cos (180null- null1- null2- null)(4)AMAML 2S null nullAnull null L 2LL 2S null r21+ r22- 2r1r2cos(180null- null1- null2- null) null L 2L(5),L SAK ; L LAK .A D:null7
8、9nullnull0null2012( 7) ?外骨骼负重机器人液压缸的设计R= r1r2sin(180null- null1- null2- null)r21+ r22- 2r1r2cos (180null- null1- null2- null) ( 6)3.3nullA 9 Aj,19 A ,AKv 9 /:Tpush= Fmax pushnull R= p Snull nullD24 null R ( 7)Tpush= Fmax pushnull R= - p Snull null(D2- d2 )4 null R ( 8)3.4nullA 4“ -AXS,yNA 4SES10- 12
9、G .A 41 :A =D d ;AL ;A ;AKv p S.AK4 /:D= 20 mm ,d= 8 mm ;r1= 314.2 mm ,r2= 86.3 mm ;LS = 236.3 mm ,L L = 390.0 mm ,L = 400 mm ;p S = 16 MPa . T( 7)a T(8) ,9 A M,i_ 1, m6 U.yA 1f ,7AD-AMS_1 z HWMwL,1| 1M wL.m6 null M wLm6 V A,A ?4w v1 z , !9A? P1 p, ?14 .4 null 结束语ADAMS q E“ _, B /1 z ;YVs9 ? P1pA #
10、; / z !94 BZE,_ZE | G s, V,9 a / !9s. ID:1 null +,null, 4V. B8 ?“d # J ., 2000, 36( 6) : 42-47.2 null Rosen J, Brand M, Fuchs M B,et al. A myosigna-l basedpowered exoskeleton systemJ. IEEE Transactions onSystems, Man and Cybernetics, Part A, 2001, 31( 3):210- 222. 3 null Zoss A, Kazerooni H,Chu A.On
11、 the biomechanical de-sign of theberkeley lower extremity exoskeleton(BLE-EX) J. IEEE/ ASM E Trans.Mechatron, 2006,11( 2),128- 138. 4 null http:/ /www. berkeleybionics. com/ Unrestricted/HULC. html. 5 null Hiroaki Kawamoto, Shigehiro Kanbe. Power assistmethod for HAL-3 estimating operatornull s inte
12、ntionalbased on motion information A. International Work-shop on Robots and Human Interactive Communica-tion(Proceeding of the2003IEEE) C . Millbrae, Ca-lifornia USA, 2003.67- 72.6 null Grifn T M, Roberts T J, Kram R. Metabolic cost ofgenerating muscular force in human walking: Insightsfrom load car
13、rying and speed experiments J. J. Appl.Physiol., 2003,(95) :172- 183.7 null,),$./ s !9 J.9 _,2008,25( 8) :238- 241.8 null GB/ T 17245-2004, M 88 S .9 null Dr. Paulo Selber MD,Wagner de Godoy, CGA Norma-tive Gait Database, AACD, Brazil. Available: http: /www. clinicalgaitanalysis. com/data/index. html.10 null GB/ T 2348-93,A “d#qnullnull null =# S.11 null GB/ T 2349-80,A “d#qnullnull null “ S.12 null GB/T 7938-87,A# “ S .Te:$anull ( 1985- ), 3, v , V 3,Z_ / ;null!null (1964- ), 3, ,q,Z_t b?A e.null80null null0null2012( 7)
