基于图论的三构态助老变胞机构的设计与运动学分析

为了研发一款助老机器人,基于图论理论、机构的数综合,设计了一种可在2自由度、1自由度、0自由度之间切换的三构态助老变胞机构。针对变胞机构的2自由度行走构态,运用闭环矢量法进行了运动学分析,得到该变胞机构在该构态下关键位置的位移、速度、加速度等变化规律。分析结果显示,位移曲线在支撑期过渡到摆动期时位移变化较大,在步态周期的后40%内,速度、加速度均有较大变化,符合人体步态规律,表明该助老变胞机构设计是合理的。

Design and Kinematics Analysis of the Three-configuration Old Helper Metamorphic Mechanism based on Graph Theory

In order to develop an old helper robot,based on the graph configuration theory and the numer?ical synthesis,a three-configuration old helper mechanism that can switch between 2 degrees of freedom,1 de?gree of freedom,and 0 degrees of freedom is designed.Aiming at the 2-DOF walking configuration of the meta?morphic mechanism,the closed-loop vector method is used to analyze the kinematics,and the displacement,velocity and acceleration of the key position of the metamorphic mechanism in this configuration are obtained.The analysis results show that,the displacement curve changes greatly when the support period transitions to the swing period,and the speed and acceleration change greatly within the last 40%of the gait cycle,which is in line with the law of human gait,indicating that the old helper mechanism design is reasonable.