外骨骼机械结构.pdf

外骨骼机械设计结构分类外骨骼机械设计结构分类1.类人外骨骼类人型外骨骼设计必须考虑适应每个操作者的身材体型以及承载能力2.非类人型外骨骼BLEEX 外骨骼设计外骨骼设计髋关节髋关节 3 自由度自由度膝关节膝关节 1 自由度自由度踝关节踝关节 1 自由度自由度旋转角度范围旋转角度范围执行器选择执行器选择液压执行器能量消耗液压执行器能量消耗Assuming a supply pressure of 6.9 MPa(1000 psi),the BLEEX actuators are sized to provide the joint torques seen in CGA data 24.BLEEX uses 19.05 mm(0.75 inch)bore,double-acting linear piston-cylinders for all its joints.Once the actuator sizes and mounting positions were chosen toensure the required range of motion Table 1 and required torque 24,the joint velocity data was used to determine the average fluid flow rate required to walk.The power sources built for BLEEX all provide a constant supply pressure of 6.9 MPa(1000 psi)to the servovalves at all times,regardless of the desired actuator force and speed.Therefore,the average hydraulic power for each actuator is determined by multiplying the average flow rate by the supply pressure.For BLEEX,the ankle,knee,and hip flexion/extension joints require an average of 1.3 kW of hydraulic power to walk 24.An additional 540 W of hydraulic power is necessary for maneuvers other than walking and for the hip abduction/adduction actuators.4-way,double-stage servovalves were selected to control the actuators due to their high bandwidth,high flow rates,and low electrical power requirements.These valves require approximately 28 W of hydraulic power each,so the eight valves consume 224 W total.The total hydraulic power requirement for the 75 kg BLEEX(and payload)to walk at 1.3 m/s is approximately 2.27 kW,or 3.0 hp(including a 10%safety factor)24BLEEX 设计设计