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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.
In order to meet the requirement of effective driving of lower extremity assisting exoskeleton in different walking modes, an elastic actuator is proposed, which drives the screw nut series spring through the motor and combines the corresponding brake pads to realize the flexible driver to assist the knee joint in different walking modes Bone drive.Analysis of the working mode of the elastic actuator and the dynamics of the brake device.For the proper brake pad material and spring, the brake and bouncing test of the elastic actuator were carried out.With the establishment of SolidWorks, ADAMS virtual The motion simulation of knee joint exoskeleton driven by elastic actuator was carried out on the prototype simulation platform. The effect of spring stiffness and equivalent mass on the performance of elastic actuator was investigated, which provided a theoretical basis for the design of the elastic actuator for lower limb assist robot.