下肢外骨骼变轴线膝关节构型设计与杆长优化

李潇; 张建军; 戚开诚; 杨高炜

doi:10.13433/j.cnki.1003-8728.20190213

下肢外骨骼变轴线膝关节构型设计与杆长优化

doi: 10.13433/j.cnki.1003-8728.20190213

河北工业大学机械工程学院，天津　300130

基金项目: 国家自然科学基金项目（51175144）、天津市自然科学重点基金项目（17JCZDJC40200）及河北省教育厅科学研究计划重点项目（ZD2019052）资助

详细信息

作者简介:
李潇（1995−），硕士研究生，研究方向为并联机器人，441620241@qq.com

通讯作者:
张建军，教授，博士生导师，zhjjun96@139.com

中图分类号: TH112
计量
- 文章访问数: 469
- HTML全文浏览量: 100
- PDF下载量: 30
- 被引次数: 0
出版历程
- 收稿日期: 2019-05-31
- 网络出版日期: 2020-08-26
- 刊出日期: 2020-08-05

Design and Optimization of Lower Limb Exoskeleton with Variable Axis Knee Joint Mechanism

School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China

摘要

摘要: 针对人体膝关节轴线具有可变性，定轴线膝关节机构必然使外骨骼与人腿协调性较差的问题，在一种无驱动含耦合双支闭链的下肢外骨骼的基础上，采用一种变轴线膝关节机构。首先，根据人体膝关节“J”型瞬心轨迹特点，确定合适的变轴线膝关节机构，并且建立含变轴线膝关节的外骨骼整体模型；其次，通过遗传算法计算出符合人体膝关节瞬心轨迹的变轴线膝关节的参数；最后，通过MATLAB计算验证变轴线膝关节的瞬心轨迹符合人体膝关节瞬心轨迹。结果表明：变轴线膝关节瞬心轨迹更加贴合人体膝关节的瞬心轨迹，含变轴线膝关节机构的外骨骼步态更加符合人体步态。
- 无驱动下肢外骨骼 /
- 变轴线膝关节 /
- 机构设计 /
- 遗传算法 /
- MATLAB
Abstract: Aiming at the problem that variability of the human knee joint axis and the fixed-axis knee joint mechanism must make the exoskeleton and the human leg have a poor coordination. Based on an unpowered lower limb exoskeleton with a coupled double-branched chain, a variable-axis knee joint mechanism was adopted. Firstly, according to the characteristics of the human knee joint ′J′ type instantaneous trajectory, the appropriate variable axis knee joint mechanism was determined, and the overall model of the exoskeleton with the variable-axis knee joint was established. Secondly, the parameters of the variable-axis knee joint conforming to the instantaneous trajectory of the human knee joint were calculated by genetic algorithm. Finally, the MATLAB calculation verified that the instantaneous trajectory of the variable-axis knee joint conforms to the instantaneous trajectory of the human knee joint. The results show that the instantaneous trajectory of the variable knee joint is more suitable for the instantaneous trajectory of the human knee joint, and the exoskeleton gait with the variable axis knee joint mechanism is more consistent with the human gait.
- unpowered lower limb exoskeleton /
- variable-axis knee joint /
- agency design /
- genetic algorithm /
- MATLAB

HTML全文

图 1 下肢外骨骼结构图

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图 2 下肢外骨骼样机

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图 3 膝关节瞬心轨迹

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图 4 图解法验证膝关节的瞬心

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图 5 含变轴线膝关节的外骨骼整体结构

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图 6 外骨骼运动学模型

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图 7 局部坐标系

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图 8 优化流程示意图

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图 9 变轴线膝关节与人体膝关节瞬心轨迹对比图

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表 1 l₅~ l₉各杆长度

杆长参数	l₅	l₆	l₇	l₈	l₉
长度/mm	133.5	210	570	415 ~ 445	154

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表 2 θ₁~ θ₃各角度范围

角度参数	θ₁	θ₂	θ₃
角度/(°)	−20 ~ 20	0 ~ 30	−20 ~ 30

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表 3 人体膝关节瞬心理想坐标值

膝屈曲角/(°)	x_pt/mm	y_pt/mm	膝屈曲角/(°)	x_pt/mm	y_pt/mm
0.0	0.0	0.0	70.0	14.0	129.0
10.0	31.0	47.0	80.0	12.0	130.0
20.0	31.0	87.0	90.0	11.0	131.0
30.0	26.0	107.0	100.0	9.0	132.0
40.0	21.0	118.0	110.0	7.0	132.0
50.0	18.0	124.0	120.0	5.0	133.0
60.0	16.0	127.0	130.0	2.0	133.0

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表 4 优化后的膝关节各杆长

杆长参数	l₁	l₂₁	l₃₁	l₄₁	l₄₃
长度/mm	52.5	25.8	26.1	18.6	419.4

下载: 导出CSV

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