[1]祝海林,周扬驰,何宜玖,等.外骨骼机器人膝部三铰点零件轻量化研究[J].常州大学学报(自然科学版),2023,35(03):71-77.[doi:10.3969/j.issn.2095-0411.2023.03.009 ]
　ZHU Hailin,ZHOU Yangchi,HE Yijiu,et al.Research on lightweight of three hinge parts of exoskeleton robot knee[J].Journal of Changzhou University(Natural Science Edition),2023,35(03):71-77.[doi:10.3969/j.issn.2095-0411.2023.03.009 ]
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外骨骼机器人膝部三铰点零件轻量化研究 ()
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常州大学学报(自然科学版)[ISSN:2095-0411/CN:32-1822/N]

卷:
第35卷
期数:
2023年03期
页码:
71-77
栏目:
机械制造及其自动化
出版日期:
2023-05-28

文章信息/Info

Title:
Research on lightweight of three hinge parts of exoskeleton robot knee
文章编号:
2095-0411(2023)03-0071-07
作者:
祝海林1; 2; 周扬驰1; 何宜玖1; 徐玉凯1
(1.常州大学 机械与轨道交通学院, 江苏 常州 213164; 2.江苏省绿色过程装备重点实验室(常州大学), 江苏 常州 213164)
Author(s):
ZHU Hailin1; 2;  ZHOU Yangchi1;  HE Yijiu1;  XU Yukai1
(1.School of Mechanical Engineering and Rail Transit, Changzhou University, Changzhou 213164, China; 2.Jiangsu Key Laboratory of Green Process Equipment,Changzhou University, Changzhou 213164, China)
关键词:
外骨骼;  三铰点;  拓扑优化;  响应面;  轻量化
Keywords:
exoskeleton;  three hinge points;  topology optimization;  response surface methodology;  lightweight
分类号:
TH 243
DOI:
10.3969/j.issn.2095-0411.2023.03.009
文献标志码:
A
摘要:
为了满足康复训练外骨骼机器人的结构轻量化要求,提出了拓扑优化与响应面法相结合的结构优化方法,通过对某康复训练外骨骼机器人膝部三铰点进行了轻量化研究与多目标优化设计,利用拓扑优化工具对其零件进行初步优化,然后以质量、最大位移及最大极限应力为目标,以零件尺寸为设计变量,进行多目标优化设计。结果表明,在满足刚度和强度的前提下,2次优化后的三铰点零件质量减轻了26.14%,为康复训练外骨骼机器人的轻量化与实用性研究,提供了新的途径。
Abstract:
In order to meet the structural lightweight requirements of rehabilitation training exoskeleton robot, a structural optimization method combining topology optimization and response surface method was proposed. Through lightweight research and multi-objective optimization design of three hinge points on the knee of a rehabilitation training exoskeleton robot, topological optimization tools were used for preliminary optimization of its parts. Mass, maximum displacement and maximum ultimate stress aresubsequently taken as objectives, and component size was taken as design variable to carry out multi-objective optimization design. The results showed that, on the premise of meeting the stiffness and strength, the mass of the three-hinge points was reduced by 26.14% after two optimizations, which provided a new way for the lightweight and practicability research of the rehabilitation training exoskeleton robot.

参考文献/References:

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(责任编辑:谭晓荷)

备注/Memo

备注/Memo:
收稿日期: 2022-12-26。
作者简介: 祝海林(1963—), 男, 浙江绍兴人, 博士, 教授。 E-mail: 85183004@qq.com

更新日期/Last Update: 1900-01-01