机电工程技术2024，Vol.53Issue(8)：220-223,4.DOI:10.3969/j.issn.1009-9492.2024.00039
下肢助力外骨骼的能量耗散仿真及拓扑设计
Metabolic Dissipation Simulation and Topological Design of Lower Extremity Assisted Exoskeleton
摘要
Abstract
With the continuous development of the assisted exoskeleton robot structure,the motion energy dissipation is constantly reduced.At present,new progress has been made in a variety of lower limb joint-assisted exoskeleton robots,but there is still a lack of effective references for higher energy efficiency-assisted exoskeleton robots.Based on the comparison of muscle energy consumption,the topological structure of a lower extremity-assisted exoskeleton robot is optimized to improve the energy efficiency ratio.Firstly,the energy dissipation of the lower limb muscle group during exercise is simulated.At the same time,to eliminate the influence of different weights and load-bearing methods on energy dissipation of muscle groups,mass-free active topology is used to study the comparison of energy dissipation of different muscle groups of lower limbs at the same speed.The topological structure of the lower extremity-assisted exoskeleton robot is optimized by comparing the characteristics of exoskeleton compliance in the literature.Finally,a lower limb exoskeleton robot with active and passive hybrid-assisted topology is obtained.Based on the massless active topology simulation calculation,the proposed topology of the lower limb exoskeleton robot reduces the energy dissipation by 12.8%.关键词
可穿戴机器人/下肢外骨骼/能量耗散/拓扑优化Key words
wearable robot/lower limb exoskeleton/energy dissipation/topology optimization分类
机械制造引用本文复制引用
武瑞..下肢助力外骨骼的能量耗散仿真及拓扑设计[J].机电工程技术,2024,53(8):220-223,4.基金项目
山西省基础研究计划(自由探索类)青年项目(202303021212308) （自由探索类）
