机械研究与应用
機械研究與應用
궤계연구여응용
Mechanical Research & Application
2015年
4期
9-11
,共3页
康复机器人%柔性关节%舒适性
康複機器人%柔性關節%舒適性
강복궤기인%유성관절%서괄성
rehabilitation robot%flexible joint%comfort
康复机器人柔性关节的舒适性对保障人机接触的安全稳定运行至关重要，针对康复机器人柔性关节舒适性设计进行了分析与研究。从拟人化的角度分析了柔性关节的机械结构设计原理与要求，从生理学角度选择人机压力接触承受点，从仿生学角度建立了外骨骼柔性关节活动范围，同时重点对比分析了外骨骼柔性关节驱动系统，形成了一套完善的柔性关节仿生设计原则，为设计结构轻巧、穿戴方便、操作柔顺的柔性关节奠定了基础。
康複機器人柔性關節的舒適性對保障人機接觸的安全穩定運行至關重要，針對康複機器人柔性關節舒適性設計進行瞭分析與研究。從擬人化的角度分析瞭柔性關節的機械結構設計原理與要求，從生理學角度選擇人機壓力接觸承受點，從倣生學角度建立瞭外骨骼柔性關節活動範圍，同時重點對比分析瞭外骨骼柔性關節驅動繫統，形成瞭一套完善的柔性關節倣生設計原則，為設計結構輕巧、穿戴方便、操作柔順的柔性關節奠定瞭基礎。
강복궤기인유성관절적서괄성대보장인궤접촉적안전은정운행지관중요，침대강복궤기인유성관절서괄성설계진행료분석여연구。종의인화적각도분석료유성관절적궤계결구설계원리여요구，종생이학각도선택인궤압력접촉승수점，종방생학각도건립료외골격유성관절활동범위，동시중점대비분석료외골격유성관절구동계통，형성료일투완선적유성관절방생설계원칙，위설계결구경교、천대방편、조작유순적유성관절전정료기출。
The comfort of the rehabilitation robot flexible joints is essential to ensure the safe and stable operation of human-machine interaction, in this paper, analysis and research on the comfort design for rehabilitation robot flexible joint has carried out. The design principles of mechanical structure and requirements of the flexible joint are analyzed, and the man-machine contact pressure points are chosen from the perspective of physiology, and from the point of bionics to establish the exoskele-tons of flexible joint activities, at the same time comparative analysis is mainly focused on the exoskeleton of flexible joints drive systems, thus to form a set of perfect bionic design principle of flexible joint, and to lay a foundation for designing the flexible joints that are lightly and ingeniously structured, easy to wear, and smooth operated.
