一种新型仿生变胞膝关节外骨骼机器人及其多体运动尺度综合方法研究

doi:10.3901/JME.2023.05.142

机械工程学报 ›› 2023, Vol. 59 ›› Issue (5): 142-155.doi: 10.3901/JME.2023.05.142

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一种新型仿生变胞膝关节外骨骼机器人及其多体运动尺度综合方法研究

李照童^1,2, 杨玉维^1,2, 李彬^1,2, 赵磊^1,2, 刘凉^1,2, 马跃^1,2, 刘祺^1,2

1. 天津理工大学天津市先进机电系统设计与智能控制重点实验室天津 300384;
2. 机电工程国家级实验教学示范中心(天津理工大学) 天津 300384

收稿日期:2022-07-11 修回日期:2022-11-25 出版日期:2023-03-05 发布日期:2023-04-20
通讯作者: 杨玉维(通信作者),男,1975年出生,博士,副教授,硕士研究生导师。主要研究方向为机器人技术、外骨骼、多体动力学等。E-mail:buddhawei@126.com
作者简介:李照童,男,1999年出生。主要研究方向为可穿戴机器人技术。E-mail:2607609174@qq.com
基金资助:
国家重点研发计划 (2017YFB1303502)、膝关节外骨骼机器人关键技术研发(10101/70305901)和国家自然科学基金(52205030, 52205029)资助项目。

A New Type of Knee Exoskeleton Bionic Metamorphic Robot and Its Optimal Dimensional Synthesis Based on Multi-body Kinematics

LI Zhaotong^1,2, YANG Yuwei^1,2, LI Bin^1,2, ZHAO Lei^1,2, LIU Liang^1,2, MA Yue^1,2, LIU Qi^1,2

1. Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin 300384;
2. National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology), Tianjin 300384

Received:2022-07-11 Revised:2022-11-25 Online:2023-03-05 Published:2023-04-20

摘要/Abstract

摘要： 针对人体步态周期的摆动相与承载相生物力学特征，创新性的提出一种集变胞仿生膝关节外骨骼机器人与具有“J”型轨迹特征运动副人体等效下肢为一体的人-机并联研究原型，在深入解析其变胞运动承载仿生工作机理的基础上，系统提出一种多体运动尺度综合方法。该方法首先基于多体运动学，系统构建人-机并联运动学模型；其次针对该外骨骼对其穿戴位置滑移与下肢个体差异的有效几何包容，提出一种新型运动学综合性能评价指标——仿生灵巧包容度；再次将多体运动尺度综合问题归结为一类多目标优化问题；最后计及不同人群的步态差异性，采用压缩粒子群算法，深入开展膝关节外骨骼系统多体运动尺度综合数值仿真。通过仿真数据对比与参数敏感性分析，佐证该膝关节外骨骼机器人所具有的变胞仿生运动学综合性能，以及多体运动尺度综合方法的合理性与有效性，为后续研究原型承载有效性的相关研究，提供理论基础。

关键词: 膝关节外骨骼, 人-机并联研究原型, 仿生灵巧包容度, 多体运动学, 尺度综合

Abstract: Aiming at the biomechanical characteristics of swing phase and weight-bearing phase of human gait cycle, a new prototype of human-machine parallel research is put forward, which integrates the metamorphic bionic knee exoskeleton robot and the equivalent lower limbs of the motion associate human body with "J" trajectory characteristics is innovatively proposed. On the basis of in-depth analysis of the working mechanism of metamorphic motion weight-bearing biomimetic, a method of dimensional synthesis based on multi-body kinematics is proposed systematically. Firstly, the method builds the human-machine parallel kinematics model based on multi-body kinematics systematically. Secondly, aiming at the effective geometric inclusion of the exoskeleton for the slip of its wearing position and the individual differences of lower limbs, a new kinematics comprehensive performance evaluation index, bionic dexterity and inclusiveness is proposed. Thirdly, the dimensional synthesis based on multi-body kinematics is reduced to a class of multi-objective optimization problems. Finally, considering the gait differences of different groups, the compressed particle swarm algorithm is used to carry out in-depth dimensional synthesis based on multi-body kinematics numerical simulation of the knee joint exoskeleton system. Through comparison of simulation data with the parameter sensitivity analysis, the comprehensive performance of metamorphic biomimetic kinematics of the exoskeleton robot and the rationality and effectiveness of the method are proved, and the theoretical basis for the subsequent research on the effectiveness of prototype weight-bearing is provided.

Key words: knee joint exoskeleton, human-machine parallel research prototype, biomimetic dexterity and inclusiveness, multi-body kinematics, dimensional synthesis

中图分类号:

TH122

李照童, 杨玉维, 李彬, 赵磊, 刘凉, 马跃, 刘祺. 一种新型仿生变胞膝关节外骨骼机器人及其多体运动尺度综合方法研究[J]. 机械工程学报, 2023, 59(5): 142-155.

LI Zhaotong, YANG Yuwei, LI Bin, ZHAO Lei, LIU Liang, MA Yue, LIU Qi. A New Type of Knee Exoskeleton Bionic Metamorphic Robot and Its Optimal Dimensional Synthesis Based on Multi-body Kinematics[J]. Journal of Mechanical Engineering, 2023, 59(5): 142-155.

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一种新型仿生变胞膝关节外骨骼机器人及其多体运动尺度综合方法研究

A New Type of Knee Exoskeleton Bionic Metamorphic Robot and Its Optimal Dimensional Synthesis Based on Multi-body Kinematics

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