一种无源髋关节助力外骨骼设计与人机工程研究

王艺澜; 涂细凯; 徐一鸣; 秦榕

doi:10.13433/j.cnki.1003-8728.20200378

一种无源髋关节助力外骨骼设计与人机工程研究

doi: 10.13433/j.cnki.1003-8728.20200378

王艺澜^1,,
涂细凯^{1, 2, ,},
徐一鸣²,
秦榕¹

1.
湖北工业大学工业设计学院, 武汉 430068
2.
湖北工业大学机械工程学院, 武汉 430068

基金项目:

湖北省自然科学基金项目 2018CFB276

详细信息

作者简介:
王艺澜(1997-), 硕士研究生, 研究方向为外骨骼造型与结构设计, 1415097184@qq.com

通讯作者:
涂细凯, 博士, 研究生导师, tuxikai@gmail.com

中图分类号: TP242.6
计量
- 文章访问数: 109
- HTML全文浏览量: 171
- PDF下载量: 43
- 被引次数: 0
出版历程
- 收稿日期: 2020-04-25
- 刊出日期: 2022-05-01

Ergonomics Study and Design of Passive Hip Joint Power-assisted Exoskeleton

WANG Yilan^1
,,
TU Xikai^{1, 2
, ,},
XU Yiming²,
QIN Rong¹

1.
School of Industrial Design, Hubei University of Technology, Wuhan 430068, China
2.
School of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, China

摘要

摘要: 本文设计了一种无源髋关节四自由度助力外骨骼, 既帮助搬运人员减少髋关节受力, 又增加髋关节外展/内收的活动范围。首先对搬运姿势进行生物力学分析, 然后提出外骨骼方案, 选择省力材料。再通过ADAMS动力学仿真分析髋关节所受力矩的变化, 验证3种材料的省力程度; 接着静力学分析3种弹性杆材料的强度; 再研究较小工况下装置省力程度; 最后运用CATIA人机工学模块分析髋关节二、四自由度搬运姿势时人体的舒适度。仿真结果表明了本文设计的外骨骼装置有突出的省力效果, 所选材料的省力范围为搬运5~25 kg重物时省力约63%, 同时又有较高的舒适度, 为后续外骨骼研究提供有效方案。
- 无源 /
- 髋关节助力外骨骼 /
- 人机工程 /
- 舒适度 /
- 四自由度
Abstract: A passive hip joint with four degrees of freedom is designed to assist the exoskeleton, which not only helps the carrier reduce the hip force, but also increases the range of hip abduction/adduction. Firstly, biomechanical analysis of the handling posture is made, and an exoskeleton plan is proposed and labor-saving materials are selected. Then the change in the torque of the hip joint through ADAMS dynamic simulation is analyzed to verify the labor saving degree of the three materials; and the strength of the three elastic rod materials is statically analyzed; the labor saving degree of the device under smaller working conditions is studied again, and the CATIA ergonomics module is finally used to analyze the comfort degree of the human body when carrying a posture with the hip joint two and four degrees of freedom. The simulation results show that the present exoskeleton device designed has outstanding labor-saving effects. The labor-saving range of the selected materials is 63% labor saving when carrying 5-25 kg heavy objects. At the same time, it has a high comfort degree and effective plan for studying subsequent exoskeleton.
- passive /
- hip joint helps exoskeleton /
- ergonomics /
- comfort degree /
- four degrees of freedom

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图 1 搬运重物时腰部力学模型

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图 2 外骨骼省力原理图

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图 3 髋关节设计方案模型

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图 4 模拟髋关节设计方案使用情况图

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图 5 外骨骼整体方案模型

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图 6 弹性部件省力工作原理图

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图 7 人体模型尺寸图

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图 8 穿戴外骨骼前后动力学仿真对比

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图 9 未穿戴外骨骼髋关节所受力矩变化

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图 10 穿戴3种不同材料外骨骼后髋关节所受力矩变化

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图 11 轧制铝弹性杆所受应力分布图

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图 12 弹性杆工作时形变位移图

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图 13 穿戴外骨骼前髋关节所受力矩变化

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图 14 穿戴外骨骼后髋关节所受力矩变化

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图 15 进行舒适度分析的6种姿势

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表 1 人体髋关节的运动范围

髋关节运动形式	运动角度
伸展/屈曲	65°~-120°
外展/内收	45°~-30°
外旋/内旋	60°~-30°

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表 2 不同材料的圆柱螺旋扭转弹簧的参数

弹簧材料	弹簧直径/mm	弹簧圈数n	省力程度
碳素弹簧钢丝C级Ⅱ级	6	23	30%
琴钢丝G2Ⅱ级	5	16	25%
弹簧用不锈钢钢丝Ⅱ级	5	20	20%
琴钢丝G2Ⅱ级	4	20	10%

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表 3 3种材料的弹性杆参数

弹性杆材料	许用应力[δ]/MPa		工作时的最大应力δ_max/MPa
弹性杆材料	抗拉强度δ_b	屈服强度δ_s	工作时的最大应力δ_max/MPa
轧制铝	85	30	2 079.2
T700碳纤维材料	>3 500	-	2 055.2
65Mn弹簧钢	825~925	439	2 044.9

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表 4 不同姿势下二、四自由度的舒适度分数

姿势	二自由度	四自由度
向前弯曲	67.4	84.9
向左前弯曲	65.0	80.2
向右前弯曲	65.9	79.8

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