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工程设计学报
工程设计学报  2018, Vol. 25 Issue (6): 697-702    DOI: 10.3785/j.issn.1006-754X.2018.06.011
建模、仿真、分析与决策     
工业装配外骨骼机械臂承重性能研究
范曙远, 王海波, 吴小笛, 张乐, 张龙
西南交通大学 机械工程学院, 四川 成都 610031
Research on load-bearing performance of industrial assembly exoskeleton manipulator
FAN Shu-yuan, WANG Hai-bo, WU Xiao-di, ZHANG Le, ZHANG Long
School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China
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摘要：

机械臂是工具支撑型工业装配外骨骼非常重要的一部分，它对工具的稳定支撑有着重要影响，直接决定此类外骨骼的使用性能。结合现有仿人机械臂的设计方法，以国内成年男子手臂尺寸为依据，基于弹簧连杆机构设计了一款用于工业装配外骨骼的机械臂。根据弹簧连杆机构的静平衡系统，阐述了工业装配外骨骼机械臂支撑以及承重的基本原理，证明了机械臂减重的可行性。为研究工业装配外骨骼机械臂承重性能，基于现有外骨骼模型进行了9组两弹簧机构连杆初始角度为不同θ1、θ2的仿真试验，并利用逆向仿真方法得到了不同条件下机械臂举升高度与举升力之间的关系曲线。为了更方便地研究机械臂承重性能，针对此机械臂提出了有效承重区间的概念。仿真试验结果表明，减小初始角度可以得到更大的有效承重区间，θ1对整个机械臂承重性能的影响比θ2大；具有较大初始角度的机械臂能够增强工具的稳定性。研究结果证明了基于弹簧连杆机构的机械臂能够很好地应用于工业装配外骨骼，为此类外骨骼机械臂的研究和设计提供了参考。
关键词： 机械臂;  工业装配外骨骼;  弹簧连杆机构;  静平衡系统;  仿真分析    
Abstract:

The manipulator is one of the most important parts of industrial assembly exoskeleton, which has an important effect on the support and stability of tools, and it determines the performance of the exoskeleton. Considering the current design method of the humanoid manipulator and according to the arm size of Chinese man, a manipulator for industrial assembly exoskeleton was designed based on spring-linkage mechanism. To prove the feasibility of weight-loss performance of this manipulator, the fundamental principles of the manipulator for tools support was explained according to the static balance system of spring-linkage mechanism. Nine groups of simulation experiments were designed with different parameters of initial angle θ1 and θ2 to study the bearing performance of this manipulator by a new reverse thinking method presented, so that the relation curves of lift height and lift force were received under different conditions. The concept of effective load-bearing interval was proposed to explain and study the load-bearing performance. The result of simulation experiments showed that smaller initial angle could get larger interval of effective load-bearing, and the initial angle θ1 had greater influence on the lightweight performance than the initial angle θ2. Additionally, it could make the tools installed on the manipulator more stable by enlarging the initial angle. So, it can prove that this manipulator is suitable for the industrial assembly exoskeleton, and provide the other researcher some ideas of study and design for this kind of exoskeleton.
Key words: manipulator    industrial assembly exoskeleton    spring-linkage mechanism    static balance system    simulation analysis
收稿日期: 2018-05-21 出版日期: 2018-12-28
CLC:  TP242  
基金资助:

国家自然科学基金资助项目（51205329）
通讯作者: 王海波(1980-),男,四川乐山人,副教授,博士,从事机电液伺服控制系统、助力外骨骼和工业装配外骨骼等研究,E-mail:haibowang@home.swjtu.edu.cn,https://orcid.org/0000-0001-6537-6867     E-mail: haibowang@home.swjtu.edu.cn
作者简介: 范曙远(1993-),男,湖南郴州人,硕士生,从事负重型下肢助力外骨骼动力系统和工业装配外骨骼研究,E-mail:379557493@qq.com,https://orcid.org/0000-0002-0571-1798
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引用本文:

范曙远, 王海波, 吴小笛, 张乐, 张龙. 工业装配外骨骼机械臂承重性能研究[J]. 工程设计学报, 2018, 25(6): 697-702.

FAN Shu-yuan, WANG Hai-bo, WU Xiao-di, ZHANG Le, ZHANG Long. Research on load-bearing performance of industrial assembly exoskeleton manipulator[J]. Chinese Journal of Engineering Design, 2018, 25(6): 697-702.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2018.06.011    或    https://www.zjujournals.com/gcsjxb/CN/Y2018/V25/I6/697

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