摘要
为获取康复外骨骼与人体连接处的接触力信息,根据人-机连接约束情况,设计了一种Stewart型六维力传感器的结构。通过对传感器进行模型分析、结构参数优化和柔性铰链的刚度分析,得到传感器的结构尺寸;采用有限元方法对传感器进行静力和模态分析,得到传感器的应力云图、模态振型和固有频率,结果表明该传感器具有较高的灵敏度和固有频率等特点,满足康复外骨骼的测量要求。
In order to obtain the contact force information, by analyzing the connection between exoskeleton and human body, a Stewart-type six-axis force/torque sensor structure is designed.The structure sizes of the sensor are obtained by analyzing sensor model,parameter optimization and the stiffness of spherical flexure hinge.The finite element method is used to analyze the static and dynamic characteristic of the sensor structure in order to get the distribution of stress ,vibration mode and inherent frequency of the sensor.Analysis results show that the six-axis senor can meet the demands of rehabilitation exoskeleton,with high sensitivities and inherent frequency.
出处
《机械设计与制造》
北大核心
2013年第1期23-25,共3页
Machinery Design & Manufacture
基金
北京市自然科学基金资助项目(3113026)
北京市先进制造技术重点实验室开放基金资助项目(0010005466909)
北京工业大学研究生科技基金资助项目(ykj-2011-5862)
关键词
康复外骨骼
六维力传感器
柔性球铰
有限元方法
Rehabilitation Exoskeleton
Six--axis Sensor
Spherical Flexure Hinge
Finite Element Method
