一种新型大转角弱耦合并联髋关节外骨骼的设计及分析

doi:10.3969/j.issn.1004-132X.2023.21.003

中国机械工程 ›› 2023, Vol. 34 ›› Issue (21): 2540-2547.DOI: 10.3969/j.issn.1004-132X.2023.21.003

一种新型大转角弱耦合并联髋关节外骨骼的设计及分析

徐继龙1，2;刘福才1，2;牛云展3

1.燕山大学智能控制系统与智能装备教育部工程研究中心，秦皇岛，066004
2.燕山大学工业计算机控制工程河北省重点实验室，秦皇岛，066004
3.燕山大学机械工程学院，秦皇岛，066004

出版日期:2023-11-10 发布日期:2023-11-29
通讯作者: 刘福才（通信作者），男，1966年生，教授、博士研究生导师。研究方向为机器人的控制理论及控制技术。E-mail：lfc@ysu.edu.cn。
作者简介:徐继龙，男，1989年生，博士研究生。研究方向为并联机器人设计理论及控制技术研究，发表论文6篇。E-mail：1010615915@qq.com。
基金资助:
河北省自然科学基金（F2022203043）；省级重点实验室绩效补助经费项目（22567612H）；河北省高端装备产业技术研究中心学科交叉技术创新重点项目（H20201103）

Design and Analysis of a Novel Weak-coupling Parallel Hip Exoskeleton with Large Angle of Rotation

XU Jilong1，2;LIU Fucai1，2;NIU Yunzhan3

1.Engineering Research Center of the Ministry of Education for Intelligent Control System and
Intelligent Equipment，Yanshan University，Qinhuangdao，Hebei，066004
2.Key Lab of Industrial Computer Control of Heibei Province，Yanshan University，Qinhuangdao，
Hebei，066004
3.School of Mechanical Engineering，Yanshan University，Qinhuangdao，Hebei，066004

Online:2023-11-10 Published:2023-11-29

摘要/Abstract

摘要： 为解决并联髋关节外骨骼工作空间小、正运动学建模困难、控制复杂的问题，设计出一种具有大转角、弱耦合特性的生物融合式髋关节外骨骼。开展了二级移动副详细结构的设计，得到了计算沟槽坡度的表达式。采用封闭矢量法推导了人-机复合体的位置正解与逆解，对逆解进行求导，得到了人-机复合体的逆雅可比矩阵。性能分析表明，人-机复合体具有运动范围大、内部无奇异、力传递性能良好、便于控制的优势。

关键词: 并联髋关节外骨骼, 生物融合, 大转角, 弱耦合

Abstract: A novel bio-syncretic hip exoskeleton with large-angle and weak-coupling characteristics was proposed to solve the problems such as small workspace， difficult forward kinematics modeling， and complex control of parallel hip exoskeletons. The detailed structures of two-stage prismatic joint were designed， and the expression for calculating the slope of the groove was obtained. The man-machine complexs forward and inverse position solutions were derived by closing-vector-circle method. The inverse Jacobian matrix was obtained by taking the derivative of the inverse position solution equation. Performance analysis shows that the man-machine complex has the advantages such as large range motion， no internal singularities， good force transfer performance， and easy control.

Key words: , parallel hip exoskeleton, bio-syncretic, large angle of ratation, weak-coupling

中图分类号:

TP24

徐继龙, 刘福才, 牛云展. 一种新型大转角弱耦合并联髋关节外骨骼的设计及分析[J]. 中国机械工程, 2023, 34(21): 2540-2547.

XU Jilong, LIU Fucai, NIU Yunzhan. Design and Analysis of a Novel Weak-coupling Parallel Hip Exoskeleton with Large Angle of Rotation[J]. China Mechanical Engineering, 2023, 34(21): 2540-2547.

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http://www.cmemo.org.cn/CN/Y2023/V34/I21/2540

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一种新型大转角弱耦合并联髋关节外骨骼的设计及分析

Design and Analysis of a Novel Weak-coupling Parallel Hip Exoskeleton with Large Angle of Rotation

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