基于刚柔耦合系统的人体外骨骼研究

人体外骨骼结构由整体刚性部件和众多液压作动筒组成,为使人体外骨骼具有更好的减震和缓冲功能,在外骨骼结构中还增加了许多弹性阻尼部件。将整个人体外骨骼结构视为刚性部件与众多柔性部件的耦合结构。以60 kg为负重载荷,在ANSYS中创造性地利用刚柔耦合方式建立人体外骨骼结构有限元模型,并分析该外骨骼结构在行走过程中的受力情况和振动模态,获得各姿态应力值及各阶振型、自振频率。经分析得,外骨骼结构除踝关节结构需加强外,其余部件满足静力学强度要求,模态分析结果显示该外骨骼结构避开了人体运动时前后摆动的频率,但易于在左右摆动时产生共振。

Research on Human Exoskeleton Based on Rigid-flexible Coupling System

Exoskeleton is composed of rigid parts and several hydraulic cylinders.Many damping components are set in exoskeleton for better reducing vibration and absorbing impact.In this paper,exoskeleton is regarded as a coupling structure of the rigid parts with many flexible parts.ANSYS is used to establish exoskeleton′s finite element model by the rigid-flexible coupling method,and stress analysis and modal analysis for exoskeleton are done under several motion conditions for getting stress,vibration mode and natural frequency.In the analysis exoskeleton is loaded 60kg.All components meet the static strength requirements except the ankle structure that should be strengthened from the result of stress analysis.Exoskeleton avoids the frequency of human back-forth motion,but it's easy to resonate from side to side by the result of modal analysis.