摘要
针对老年人肌肉功能逐渐退化所导致的手臂运动障碍问题,设计一种上肢外骨骼机械手臂。可以实现肩关节的外展/内收、前屈/后伸和外旋/内旋运动,肘关节屈/伸运动。首先建立三维模型,然后采用变密度法对外骨骼机械臂关键部件进行了拓扑优化设计。优化结果表明,在符合刚度和强度的条件下,通过优化设计,外骨骼机械臂关键部件重量可以减少到未优化部件的70%。
With the problem of arm movement disorder caused by gradual deterioration of muscle function in the elderly,an exoskeleton mechanical arm has been developed.The abduction/adduction,flexion/extension and external rotation/internal rotation of the shoulder joint and flexion/extension of the elbow joint can be achieved.First,a solid model is established.Then,the alterable density method is used to optimize the key parts of the mechanical arm.The results show that under the condition of stiffness and strength,the weight of the key components of the exoskeleton arm can be reduced to 70%of the non-optimized parts.
作者
肖城兵
甘屹
Xiao Chengbing;Gan Yi(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《农业装备与车辆工程》
2020年第1期49-52,共4页
Agricultural Equipment & Vehicle Engineering
关键词
外骨骼机械臂
轻量化
拓扑优化
mechanical arm
lightweight
topological optimization
作者简介
肖城兵(1992—),男,硕士研究生,主要研究方向:机器人。E-mail:18817801670@163.com;甘屹,男,教授,博士生导师,主要研究方向:智能制造。
