• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2018, Vol. 54 ›› Issue (20): 170-179.doi: 10.3901/JME.2018.20.170

• 机器人 • 上一篇    下一篇

液压式人体行走能量回收装置设计与回收效果分析

施虎1,2, 汪政1,3, 何彬1,3, 梅雪松1,3, 贾坤4   

  1. 1. 西安交通大学机械工程学院 西安 710049;
    2. 流体动力与机电系统国家重点实验室 杭州 310027;
    3. 陕西省智能机器人重点实验室 西安 710049;
    4. 西安交通大学航天航空学院 西安 710049
  • 收稿日期:2017-07-18 修回日期:2018-04-20 出版日期:2018-10-20 发布日期:2018-10-20
  • 通讯作者: 施虎(通信作者),男,1983年出生,博士,副教授。主要研究方向为机电液传动与控制。E-mail:tigershi@xjtu.edu.cn
  • 作者简介:汪政,男,1993年出生,硕士研究生。主要研究方向为液压系统能量回收与存储。E-mail:1827513641@qq.com
  • 基金资助:
    国家自然科学基金(51675400)、中央高校基本科研业务费(xjj2016015)和流体动力与机电系统国家重点实验室开放基金(GZKF-201712)资助项目。

Design and Analysis of Mechanical-hydraulic Component to Harvest Energy from Human Walking

SHI Hu1,2, WANG Zheng1,3, HE Bin1,3, MEI Xuesong1,3, JIA Kun4   

  1. 1. School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an 710049;
    2. State Key Laboratory of Fluid Power & Mechatronic Systems, Hangzhou 210027;
    3. Key Laboratory of Intelligent Robotics of Shaanxi Province, Xi'an 710049;
    4. School of Aerospace, Xi'an Jiaotong University, Xi'an 710049
  • Received:2017-07-18 Revised:2018-04-20 Online:2018-10-20 Published:2018-10-20

摘要: 人体行走时足底蕴藏着丰富的能量,该能量的有效回收可有效缓解穿戴电子产品、助力外骨骼等设备的能量供给问题。设计出一种将行走能量转化为液压能的能量回收机构,可供采用液压驱动的人工外骨骼循环利用。为弥补现有行走能量回收研究中往往忽略下肢行走动力学的不足,在分析步态特征的基础上,建立单腿行走过程的三自由度动力学模型。以正常成年人为对象研究单个步态周期内足底对地面作用力随时间和足部位姿的变化规律,得到行走过程中足地作用力及其水平和竖直方向分量,以及力和人行走方向夹角与足部动作的关系。依据行走能量分布规律,设计了液压式能量转化机构和存储系统用以收集行走过程中足地竖直方向作用力产生的能量,分析液压能量回收效果,结果表明无负重时单足能量回收装置的液压能输出平均功率高达20 W。

关键词: ADAMS仿真, 步态, 能量回收, 行走动力学, 液压能

Abstract: Considerable energy is generated by foot during human walking. Harvesting such energy is expected to solve the problem of energy supply for wearable electronic devices and even exoskeleton effectively. An energy recovery device is designed to achieve energy conversion into hydraulic power for the drive system of exoskeleton. In order to cover the shortage of the previous research without consideration of human walking dynamics, a 3 DOF dynamic model is established based on the gait analysis to formulate the single leg walking motion. The relationships between foot-ground interactions and time as well as foot attitude in a gait cycle are studied taking the adult as a reference. The forces acting on the ground by foot during walking and their vertical and horizontal components are obtained. The angle between the ground reaction force and the walking direction of pedestrian is measured by simulation. Given the energy distribution during walking, the recovery and storage device is proposed to convert the work done by foot into hydraulic oil energy by collecting the power induced by vertically applied foot force. It is estimated by computation that the hydraulic power of about 20 W can be captured from single foot averagely during human walking without load.

Key words: ADAMS simulation, energy recovery, gait, human walking dynamics, hydraulic power

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