Design of Passive Gravity Balance Mechanism for Wearable Exoskeleton Suit

摘要：

　　The wearable exoskeleton suit is a man-machine system which can combine the human limbs with machinery and environment.The key point of wearable exoskeleton suit is the design of passive gravity balance mechanism to achieve passive gravity balance in the system.Based on the principle of passive gravity balance technology,this paper deduces the theoretical equation of passive gravity balance.Then,the equations were applied to the passive gravity balance for single parallelogram mechanism and double parallelogram mechanism.Simultaneously,the analysis was also conducted using MATLAB optimization tool.The results show that the parallelogram passive gravity balance mechanism can achieve any position to hover within a certain range of spring tension.It can make the operating force at low level when doing the up and down movement.Consequently,with the help of this system,the vibration damage in some work conditions to human musculoskeletal can be significantly reduced,it can be introduced to many work conditions,such as pneumatic impact drilling.

关键词： Exoskeleton Mechanical structure design Optimization design Passive gravity balance

作者: Chenxi Qu Peng Yin Xiaohua Zhao Liang Yang

作者单位: College of Automotive Engineering,Jilin University,Changchun 130025,China School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 51064 Intelligent Technology R&D Center,Guangzhou Hyetone Mechanical and Electrical Equipment Co.,Ltd.,Gua

会议类型: 国际会议

会议名称: 2019机械设计国际会议暨第20届机械设计学术年会

会议地点: 浙江湖州

会议语种:英文

页码: 531-545

在线出版日期: 2019-08-12（万方平台首次上网日期，不代表论文的发表时间）