携行式上肢抗振外骨骼减振器参数设计

陈俞鹏; 王海波; 吴小笛

doi:10.13433/j.cnki.1003-8728.20200286

携行式上肢抗振外骨骼减振器参数设计

doi: 10.13433/j.cnki.1003-8728.20200286

陈俞鹏^{1, 2,},
王海波^{1, 2, ,},
吴小笛^{1, 2}

1.
西南交通大学机械工程学院, 成都 610031
2.
西南交通大学轨道交通运维技术与装备四川重点实验室, 成都 610031

基金项目:

国家自然科学基金项目 51905451

详细信息

作者简介:
陈俞鹏(1996-),硕士研究生,研究方向为工业装配外骨骼, cyp7211@my.swjtu.edu.cn

通讯作者:
王海波, 副教授, haibowang@swjtu.edu.cn

中图分类号: TG156
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- 被引次数: 0
出版历程
- 收稿日期: 2020-06-03
- 刊出日期: 2021-12-05

Parameter Design of Anti-vibration Exoskeleton Damping Mechanism for Operating Hand-held Power Tools

CHEN Yupeng^{1, 2
,},
WANG Haibo^{1, 2
, ,},
WU Xiaodi^{1, 2}

1.
School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China
2.
.Technology and Equipment of Rail Transit Operation and Maintenance Key Laboratory of Sichuan Province, Southwest Jiaotong University, Chengdu 610031, China

摘要

摘要: 针对手持振动工具对人体的负面影响和现有减振措施不足, 提出一种轻量化、高舒适性的携行式上肢抗振外骨骼作为新型个体防护装备, 并对外骨骼核心部件减振器进行参数设计, 提高了减振性能。利用直角坐标法求解机构的运动方程, 根据拉格朗日原理建立人机耦合系统运动微分方程, 分析得到影响抗振外骨骼减振性能的关键参数。基于人机耦合力学模型和外骨骼初始样机参数, 使用Minitab以标准正交表L₂₇(3¹³)设计考虑交互作用的5因素3水平正交仿真试验。ADAMS仿真试验结果表明: 各因素及其部分交互项对合力F的影响显著性排序为l₂/l₁>l₂/l₁×c₁>l₂/l₁×c₂>c₂>c₁>c₁×c₂>k₂>k₁; 减振器安装位置l₂/l₁是影响减振性能的主要因素; 结合交互作用分析二元图, 试验范围内因素最佳水平组合为l₂/l₁(1)k₁(1)c₁(3)k₂(1)c₂(3)。最佳水平组合下外骨骼达到较好的减振效果。
- 减振器参数设计 /
- 人机耦合力学模型 /
- 正交仿真试验 /
- 交互作用 /
- 抗振外骨骼
Abstract: In view of the negative impact of hand-held vibration tools on the human body and the lack of existing vibration reduction measures, a lightweight and comfortable portable upper extremity anti-vibration exoskeleton was proposed as new personal protective equipment. The structural parameter of its core component damper is designed to improve the vibration reduction performance. The rectangular coordinate method is used to build and solve the equation for the motion of the mechanism. According to the Lagrange principle, the differential equation of motion of the man-machine coupled system is established, and the key parameters that affect the anti-vibration exoskeleton damping performance are analyzed. Based on the mechanical model of human-machine coupling and the initial prototype parameters of exoskeleton, the standard orthogonal table L₂₇(3¹³) is selected by Minitab to design 5-factor 3-level orthogonal simulation test, which investigates the interaction between factors. The results of ADAMS simulation show that the influence significant order of the factors and the interaction terms on force F is l₂/l₁>l₂/l₁×c₁>l₂/l₁×c₂>c₂>c₁>c₁×c₂>k₂>k₁. The installation position l₂/l₁ of the shock absorber is the main factor affecting the shock absorption performance. The optimal level combination of factors within the test range is l₂/l₁(1)k₁(1)c₁(3)k₂(1)c₂(3). Under the optimal level combination, the exoskeleton achieves a better vibration reduction effect.
- damper parameter design /
- man-machine coupled mechanical model /
- orthogonal simulation test /
- interaction /
- anti-vibration exoskeleton

HTML全文

图 1 抗振外骨骼三维模型

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图 2 剪式单元减振原理

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图 3 人机耦合系统力学模型

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图 4 连杆运动规律

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图 5 常用铆接姿势

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图 6 ADAMS仿真模型

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图 7 交互作用二元图

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图 8 正交试验仿真结果

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图 9 交互作用二元图

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表 1 人机耦合系统模型相关参数

结构参数	单位
振动工具质量M₁	kg
外骨骼夹持装置质量M₂	kg
连杆AB的长度l₁	mm
连杆BD的长度l₂	mm
连杆AH的长度l₃	mm
连杆BD与水平角度θ₁	rad
连杆AH与水平角度θ₂	rad
减振器1、2弹簧刚度k₁、k₂	N/mm
减振器1、2阻尼系数c₁、c₂	N·s/mm
腕关节等效刚度k₃、k₄	N/mm
腕关节等效阻尼系数c₃、c₄	N·s/mm
激振力的幅值F₀	N
手臂初始作用力f	N
工具水平、竖直方向位移x、y	mm

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表 2 人体模型参数

名称	长度/ mm	质量/ kg	转动惯量/(kg·mm²)
名称	长度/ mm	质量/ kg	I_x	I_y	I_z
上臂	313	1.707	12 095.8	12 519.8	15 78.5
前臂	237	0.885	3 114.3	3 010.3	783.9
手掌	56	0.442	-	-	-

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表 3 因素水平表

水平	l₂/l₁	k₁	c₁	k₂	c₂
Ⅰ	0.6	2.7	2.15	2.7	2.15
Ⅱ	0.7	2.8	2.30	2.8	2.30
Ⅲ	0.8	2.9	2.45	2.9	2.45

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表 4 试验方案设计

试验	l₂/l₁	k₁	c₁	k₂	c₂
1	0.6	2.7	2.15	2.7	2.15
2	0.6	2.7	2.30	2.8	2.30
3	0.6	2.7	2.45	2.9	2.45
4	0.7	2.8	2.15	2.7	2.30
5	0.7	2.8	2.30	2.8	2.45
6	0.7	2.8	2.45	2.9	2.15
7	0.8	2.9	2.15	2.7	2.45
8	0.8	2.9	2.30	2.8	2.15
9	0.8	2.9	2.45	2.9	2.30
10	0.6	2.9	2.15	2.9	2.30
11	0.6	2.9	2.30	2.7	2.45
12	0.6	2.9	2.45	2.8	2.15
13	0.7	2.7	2.15	2.9	2.45
14	0.7	2.7	2.30	2.7	2.15
15	0.7	2.7	2.45	2.8	2.30
16	0.8	2.8	2.15	2.9	2.15
17	0.8	2.8	2.30	2.7	2.30
18	0.8	2.8	2.45	2.8	2.45
19	0.6	2.8	2.15	2.8	2.45
20	0.6	2.8	2.30	2.9	2.15
21	0.6	2.8	2.45	2.7	2.30
22	0.7	2.9	2.15	2.8	2.15
23	0.7	2.9	2.30	2.9	2.30
24	0.7	2.9	2.45	2.7	2.45
25	0.8	2.7	2.15	2.8	2.30
26	0.8	2.7	2.30	2.9	2.45
27	0.8	2.7	2.45	2.7	2.15

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表 5 仿真数据处理结果

试验号	F_x/N	F_y/N	F/N
1	29.928 5	37.362 1	47.871 1
2	26.091 1	38.566 2	46.562 8
3	22.520 0	39.749 7	45.685 7
4	15.823 5	43.587 4	46.370 7
5	16.270 6	45.043 8	47.892 3
6	15.853 4	44.325 2	47.075 0
7	20.750 0	47.569 7	51.898 4
8	18.943 0	46.775 4	50.465 6
9	22.904 4	48.368 4	53.517 4
10	27.992 3	37.974 7	47.176 8
11	24.234 6	39.161 7	46.053 8
12	26.091 8	38.570 8	46.567 0
13	15.842 3	44.321 5	47.067 7
14	15.814 2	43.583 7	46.364 1
15	16.259 0	45.039 9	47.884 7
16	17.461 2	45.966 3	49.171 0
17	20.734 5	47.565 0	51.887 8
18	25.121 5	49.138 1	55.187 4
19	26.091 4	38.568 5	46.564 9
20	27.991 8	37.972 4	47.174 6
21	24.233 6	39.159 3	46.051 2
22	16.299 4	42.856 1	45.851 0
23	15.864 4	44.329 0	47.082 3
24	17.110 7	45.758 2	48.852 7
25	18.912 3	46.766 1	50.445 5
26	22.873 3	48.358 8	53.495 4
27	20.719 0	47.560 2	51.877 2

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表 6 极差分析表

指标	水平	l₂/l₁	k₁	c₁	k₂	c₂
F_x	Ⅰ	26.1306	20.9955	21.0112	21.0387	21.0114
	Ⅱ	16.1264	21.0646	20.9797	21.1200	20.9795
	Ⅲ	20.9355	21.1323	21.2015	21.0337	21.2016
	R	10.0042	0.1368	0.2218	0.0863	0.2221

F_Y	Ⅰ	38.5650	43.4787	42.7747	43.4786	42.7747
	Ⅱ	44.3161	43.4807	43.4840	43.4805	43.4840
	Ⅲ	47.5631	43.4849	44.1855	43.4851	44.1856
	R	8.9981	0.0062	1.4108	0.0065	1.4109

F	Ⅰ	46.6342	48.5838	48.0463	48.5808	48.0463
	Ⅱ	47.1601	48.5972	48.5532	48.6024	48.5532
	Ⅲ	51.9940	48.6072	49.1887	48.6051	49.1887
	R	5.3598	0.0234	1.1424	0.0243	1.1424

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表 7 方差分析表

来源	f_i	离差平方和	均方	F值	P值
l₂/l₁	2	157.111	78.555 3	162 565.54	2.00E-10
k₁	2	0.002	0.001 2	2.57	1.91E-01
c₁	2	5.897	2.948 6	6 101.98	1.07E-07
k₂	2	0.003	0.001 6	3.31	1.42E-01
c₂	2	5.898	2.948 9	6 102.51	1.07E-07
l₂/l₁×c₁	4	13.064	3.266 1	6 758.94	6.56E-08
l₂/l₁×c₂	4	13.063	3.265 8	6 758.46	6.57E-08
c₁×c₂	4	0.205	0.051 3	106.25	2.59E-04
误差	4	0.002	0.000 5
合计	26	195.246

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