摘要
踝关节在人体正常行走时,踝关节所承受的力矩最大。文章在分析踝关节生物力学的基础上,首先从减缓小腿肌肉疲劳角度出发设计了踝关节助力外骨骼,并建立了其力传递模型。之后,采用有限元仿真分析技术对踝关节助力外骨骼进行有限元静力学仿真,并对小腿固定支架进行瞬态动力学仿真。通过有限元分析,验证了其结构设计的合理性。最后,将正常人行走时的步态数据作为驱动对踝关节助力外骨骼虚拟样机进行了ADAMS动力学仿真,研究不同步速、不同弹簧刚度系数对踝关节助力外骨骼关节力矩的影响,仿真结果表明踝关节助力外骨骼有较好的动力输出效果,为实物的搭建提供可行性依据。
When the ankle joint is walking normally,it bears the most moment.In this paper,based on the analysis of ankle biomechanics,firstly,from the perspective of reducing the fatigue of calf muscles,we designed the ankle assisted exoskeleton,and established its force transfer model.After that,the finite element static simulation of ankle assisted exoskeleton and the transient dynamic simulation of the leg fixed bracket were carried out.Through the finite element analysis,the rationality of its structure design is verified.Finally,Adams dynamic simulation is carried out on the virtual prototype of ankle joint assisted exoskeleton driven by the gait data of normal people.The influence of different walking speed and spring stiffness coefficient on the moment of ankle joint assisted exoskeleton is studied.The simulation results show that ankle joint assisted exoskeleton has better dynamic output effect,which provides a feasible basis for the construction of the real object.
作者
冯博琳
赵文彬
宋鹏
周加永
王军利
FENG Bo-lin;ZHAO Wen-bin;SONG Peng;ZHOU Jia-yong;WANG Jun-li(Northwest Institute of Mechanical&Electrical Engineering,Xianyang Shaanxi 712099,China;College of Mechanical Engineering,Shaanxi University of Technology,Hanzhong Shaanxi 723000,China)
出处
《组合机床与自动化加工技术》
北大核心
2020年第12期140-143,148,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
陕西省科技厅重点研发计划项目(2017ZDXM-GY-138)
陕西省科技厅科学研究计划项目(2019JQ-884)
陕西省教育厅专项科学研究计划项目(19JK0172)。
关键词
踝关节助力外骨骼
力传递模型
有限元
动力学仿真
ankle assisted exoskeleton
force transfer model
finite element
dynamic simulation
