摘要
为满足下肢助力外骨骼不同行走模式下有效驱动的需求,提出了一种弹性驱动器,通过电机带动丝杠螺母串联弹簧,结合相应的刹车片,实现弹性驱动器对不同行走模式下的助力膝关节外骨骼的驱动.对弹性驱动器进行工作模式分析及刹车装置的动力学研究.为优选出合适的刹车片材料及弹簧,进行了弹性驱动器的刹车力及弹跳冲击实验.在建立的Solid Works、ADAMS虚拟样机联合仿真平台上对弹性驱动器驱动的膝关节外骨骼进行运动仿真,考察弹簧刚度及等效质量对弹性驱动器工作性能的影响,为下肢助力机器人弹性驱动器的设计提供理论依据.
An elastic actuator is proposed for meeting the effective drive demands of a lower limbs power-assisted ex-oskeleton under different walking patterns. The proposed actuator can drive a power-assisted knee exoskeleton to achieve different kinds of motion through driving the screw nut by a motor to connect a spring in series and combining with the corresponding brake pads. The motion mode of the elastic actuator is analyzed, and the dynamics of brake mechanism is studied. Some braking force and bounce impact experiments are implemented for selecting suitable brake pad material and spring. The effects of spring stiffness and equivalent mass on the elastic actuator properties are studied based on a virtual pro-totype co-simulation platform with SolidWorks and ADAMS. The simulation results provide theoretical basis for designing the elastic actuator of lower limb power-assisted robot.
出处
《机器人》
EI
CSCD
北大核心
2014年第6期668-675,共8页
Robot
基金
国家自然科学基金青年基金资助项目(51205182)
江苏省自然科学基金青年基金资助项目(BK2012474)
南京工程学院创新基金资助项目(CKJB201202)
关键词
助力机器人
弹性驱动器
运动模式
虚拟样机仿真
power-assisted robot
elastic actuator
motion mode
virtual prototyping simulation
