一种新型外骨骼臂架肘部助力系统设计与机构仿真

摘要

The research in upper limb exoskeleton boom still shows the problems of irrational structure design and simpleness in functionality due to the limitations in drive mode,structure design,power supply and some related techniques.Here,a novel design of exoskeleton boom elbow boost system was proposed,which is based on the mode of the cable pulley block by electric drive.The boom structure is composed of a signle degree-of-freedom four-bar linkage in parallel.According to the actual working conditions,the main dimensions and stress in structure was calculated using analytical method,including the determining of electronic control system parameters and the types of roping.More work on the institutional statics and dynamics simulation analysis was implemented within SolidWorks integrated simulation environment.The results from the simulation analysis showed that there was a nonlinear dynamic change with the bilateral dragging cable,which indicates the need of a ratio to improve the calculation in drive part.And the parts of static stress and margin of safety meet the design requirements.%基于拉索滑轮组电驱方式,提出一种新型的外骨骼臂架肘部助力系统设计方案.臂架结构为单自由度双排并联四杆机构,根据实际工况,采用解析法,计算分析机构主要尺寸、应力,设计电控系统参数和绕绳方式.并结合SolidWorks集成仿真系统对相关机构进行静力学和动力学仿真分析.仿真分析表明:双侧拉索存在非线性动态变化,需引入相关比率系数,以修正驱动计算；其静应力和安全裕度皆满足设计要求.