北京生物醫(yī)學(xué)工程

外骨骼型下肢康復(fù)機(jī)器人柔性關(guān)節(jié)驅(qū)動(dòng)器的設(shè)計(jì)及實(shí)驗(yàn)研究

Design and experimental research of the flexible joint driver of lower limb rehabilitation exoskeleton robots

作者：王援柱徐飛佀國(guó)寧

單位：上海瑞柯恩激光技術(shù)有限公司（上海201203）上海理工大學(xué)醫(yī)療器械與食品學(xué)院（上海200093）

關(guān)鍵詞：外骨骼；柔性驅(qū)動(dòng)器；結(jié)構(gòu)設(shè)計(jì)；下肢康復(fù)機(jī)器人

分類號(hào)：R318.04

出版年·卷·期（頁(yè)碼）：2021·40·1（55-61）

摘要：

目的當(dāng)剛性驅(qū)動(dòng)器直接作用于關(guān)節(jié)時(shí)，由于關(guān)節(jié)缺少對(duì)驅(qū)動(dòng)力的緩沖，容易對(duì)其造成損傷。為此，本文擬設(shè)計(jì)一種柔性關(guān)節(jié)驅(qū)動(dòng)器，以實(shí)現(xiàn)柔性變剛度驅(qū)動(dòng)。方法采用彈簧和扭簧組合實(shí)現(xiàn)不同驅(qū)動(dòng)力下驅(qū)動(dòng)器剛度的變化。通過調(diào)節(jié)電機(jī)的轉(zhuǎn)速實(shí)現(xiàn)彈簧、扭簧的壓縮以及正反向的運(yùn)動(dòng)，并確定彈簧及扭簧的參數(shù)。最后搭建柔性變剛度關(guān)節(jié)驅(qū)動(dòng)器實(shí)驗(yàn)平臺(tái)，通過選用不同勁度系數(shù)的彈簧、扭簧進(jìn)行低力、中力和高力模式下的柔性驅(qū)動(dòng)實(shí)驗(yàn)，以驗(yàn)證柔性關(guān)節(jié)驅(qū)動(dòng)器設(shè)計(jì)的合理性。結(jié)果選取彈簧的剛度為、扭簧抗扭剛度為。當(dāng)驅(qū)動(dòng)力較小時(shí)，彈簧壓縮，扭簧不發(fā)生作用；當(dāng)驅(qū)動(dòng)力較大時(shí)，扭簧扭轉(zhuǎn)，彈簧不發(fā)生作用；當(dāng)驅(qū)動(dòng)力介于二者之間時(shí)，彈簧和扭簧同時(shí)發(fā)生作用。結(jié)論柔性關(guān)節(jié)驅(qū)動(dòng)器能夠在不同驅(qū)動(dòng)力作用下使扭簧和彈簧發(fā)生作用，實(shí)現(xiàn)柔性變剛度驅(qū)動(dòng)的目的。

Objective When a rigid actuator drives the joint directly, it can cause damage to the joint for lack of buffer to the driving force. In this paper, a flexible joint driver is designed and an experimental platform is built to verify the flexible variable stiffness drive. Methods First of all ,by combining springs and torsion springs, we change the drive stiffness under different driving force. Then by changing the speed of the motor, we realize the compression of springs and torsion springs as well as the forward and backward motion, and the parameters of springs and torsion springs are also determined. Finally, we build the experimental platform for flexible variable stiffness joint drivers and carry out flexible driving experiments respectively under low, medium and high force modes with springs and torsional springs whose stiffness coefficients are different so that the rationality of the design of flexible joint drivers is verified. Results The stiffness of the spring is 10 N/mm and the torsional stiffness of the torsion spring is 0.1Nm/rad. When the driving force is small, the spring is compressed while the torsion spring does not work. When the driving force is large, the torsion spring becomes torsional while the spring has no effect. When the driving force falls in between, the spring and the torsion spring act simultaneously. Conclusions The experimental platform of the flexible actuator with springs and torsion springs can make them act under different driving force so that the flexible variable stiffness drive can be achieved.

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