搜索
外骨骼机械设计结构分类1.类人外骨骼类人型外骨骼设计必须考虑适应每个操作者的身材体型以及承载能力2.非类人型外骨骼BLEEX外骨骼设计髋关节3自由度膝关节1自由度踝关节1自由度旋转角度范围执行器选择液压执行器能量消耗Assumingasupplypressureof6.9MPa(1000psi),theBLEEXactuatorsaresizedtoprovidethejointtorquesseeninCGAdata[24].BLEEXuses19.05mm(0.75inch)bore,double-actinglinearpiston-cylindersforallitsjoints.Oncetheactuatorsizesandmountingpositionswerechosentoensuretherequiredrangeofmotion[Table1]andrequiredtorque[24],thejointvelocitydatawasusedtodeterminetheaveragefluidflowraterequiredtowalk.ThepowersourcesbuiltforBLEEXallprovideaconstantsupplypressureof6.9MPa(1000psi)totheservovalvesatalltimes,regardlessofthedesiredactuatorforceandspeed.Therefore,theaveragehydraulicpowerforeachactuatorisdeterminedbymultiplyingtheaverageflowratebythesupplypressure.ForBLEEX,theankle,knee,andhipflexion/extensionjointsrequireanaverageof1.3kWofhydraulicpowertowalk[24].Anadditional540Wofhydraulicpowerisnecessaryformaneuversotherthanwalkingandforthehipabduction/adductionactuators.4-way,double-stageservovalveswereselectedtocontroltheactuatorsduetotheirhighbandwidth,highflowrates,andlowelectricalpowerrequirements.Thesevalvesrequireapproximately28Wofhydraulicpowereach,sotheeightvalvesconsume224Wtotal.Thetotalhydraulicpowerrequirementforthe75kgBLEEX(andpayload)towalkat1.3m/sisapproximately2.27kW,or3.0hp(includinga10%safetyfactor)[24]BLEEX设计