Parameter Design of Shock Absorber of Anti-vibration Exoskeleton for Aerial Assembly
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摘要: 利用双直角坐标法求解抗振外骨骼辅助铆接的人机耦合力学模型,根据拉格朗日原理建立铆接工具水平方向和垂直方向的运动微分方程,得到影响抗振外骨骼减振性能的减振器参数。基于人机耦合力学模型和现有外骨骼样机参数,以标准正交表L16(45)设计5因素4水平的正交仿真试验,分析减振器参数对抗振外骨骼减振性能的影响。ADAMS仿真试验结果表明:减振器参数对水平方向力Fx和合力均值μF影响显著,而对竖直方向力Fy影响较小;减振器参数对Fx的影响显著性排序为:l1>c2>k1>k2>c1, 对μF的影响显著性排序为:l1>c2>k2>k1>c1;减振器安装位置l1是Fx和μF的主要影响因素,试验范围内的最佳参数组合为l1(4)k1(4)k2(4)c1(4)c2(4)。试验结果确定了减振器参数对减振性能的影响,为减振器参数设计及类似的减振结构设计提供参考依据。Abstract: The method of double rectangular coordinates is used to solve the human-machine coupling model of riveting with anti-vibration exoskeleton. In terms of the Lagrange principle, the differential equations of motion in the horizontal and vertical directions of rivet tool are established to obtain the shock absorber parameters which affect the vibration reduction performance of anti-vibration exoskeleton. Based on the human-machine coupled model and the exoskeleton prototype parameters, the 5 factors and 4 levels orthogonal test is designed according to the standard orthogonal table L16(45) to analyze the influence of the shock absorber parameters on the vibration reduction performance of anti-vibration exoskeleton. The results of orthogonal simulation test show that the shock absorber parameters have a significant influence on the horizontal force Fx and the resultant force μF, but little effect on the vertical force Fy. The influence significant order of the shock absorber parameters is l1 > c2 > k1 > k2 > c1. on Fx and l1 > c2 > k2 > k1 > c1 on μF; the shock absorber installation position l1 is the main influencing factor of Fx and μF, and the optimal combination of parameters in the test range is l1(4)k1(4)k2(4)c1(4)c2(4). It determines the influence of the shock absorber parameters on the vibration reduction performance of anti-vibration exoskeleton, which provides a reference for the shock absorber parameter design and the similar anti-vibration structure design.
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表 1 模型相关参数
符号 代表的结构参数 单位 M1、M2 外骨骼云台、工具质量 kg M3、M4 人体上臂、前臂质量 kg l1 减振器安装点高度 m l2 连杆AB、EF的长度 m l3 铰点B, E的水平距离 m θ1、θ2 连杆AB、EF水平角度 rad k1、k2 减振器1、2弹簧刚度 N/m ku、kv、kw 肩关节刚度 N·m/rad c1、c2 减振器1、2阻尼系数 N·m·s/rad2 cu、cv、cw 肩、肘、腕关节阻尼系数 N·m·s/rad2 F0 激振力的幅值 N f 手臂初始作用力 N x、y 工具水平、竖直方向位移 m 表 2 因素水平变量
水平 l1 k1 k2 c1 c2 1 0.04 6 000 6 000 100 100 2 0.06 8 000 8 000 130 130 3 0.08 10 000 10 000 160 160 4 0.1 12 000 12 000 190 190 表 3 正交试验方案设计
试验号 l1 k1 k2 c1 c2 1 0.04 6 000 6 000 100 100 2 0.04 8 000 8 000 130 130 3 0.04 10 000 10 000 160 160 4 0.04 12 000 12 000 190 190 5 0.06 6 000 8 000 160 190 6 0.06 8 000 6 000 190 160 7 0.06 10 000 12 000 100 130 8 0.06 12 000 10 000 130 100 9 0.08 6 000 10 000 190 130 10 0.08 8 000 12 000 160 100 11 0.08 10 000 6 000 130 190 12 0.08 12 000 8 000 100 160 13 0.1 6 000 12 000 130 160 14 0.1 8 000 10 000 100 190 15 0.1 10 000 8 000 190 100 16 0.1 12 000 6 000 160 130 表 4 仿真数据处理结果
试验号 Fx Fy μF a1 θ a1 θ 1 45.6 2.559 16.6 5.388 31.02 2 45.4 2.623 16.7 5.372 30.91 3 44 2.686 17.5 5.451 30.46 4 42.8 2.733 18 5.435 29.81 5 33.2 2.856 19.2 5.388 24.79 6 32 2.812 17.5 5.451 24.05 7 32 2.953 19.2 5.509 24.23 8 38 2.953 19.2 5.498 27.76 9 25.8 2.875 18 5.482 20.63 10 26.5 1.178 18 5.435 21.40 11 29.6 2.837 18 0.739 23.18 12 31.6 2.906 18 5.513 24.52 13 26.5 2.906 19 5.529 21.40 14 29 2.868 20 5.513 22.94 15 22.5 2.827 19 5.529 18.93 16 24.5 2.827 20 5.513 20.07 表 5 各水平因素平均偏差量
研究对象 l1 k1 k2 c1 c2 k1 44.45 32.93 32.78 33.15 34.55 k2 33.80 33.18 33.23 31.93 34.88 Fx k3 28.38 34.20 32.03 33.53 32.05 k4 25.63 31.95 34.23 33.65 30.78 R 18.83 2.25 2.20 1.73 4.10 k1 30.55 24.58 24.46 24.78 25.68 k2 25.21 24.79 24.82 23.96 25.81 μF k3 22.43 25.45 24.20 25.11 24.18 k4 20.84 24.21 25.54 25.18 23.35 R 9.71 1.24 1.34 1.22 2.46 -
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