用于坡路助行的主/被动力矩实现方法研究*
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中图分类号: TP242TH132文献标识码: A国家标准学科分类代码: 46020

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*基金项目:国家重点研发计划(2016YFE0128700)、河北省自然科学基金(E2018202316)项目资助


Study on the mothed of implementing active/passive torque for walking assistant on slopes
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    摘要:

    摘要:针对智能助行器坡路助行需求,提出了一种主/被动力矩实现方法。该方法利用磁流变制动器阻力矩可控的特点,结合磁流变制动器、蜗轮蜗杆减速器与直流电机,构成主/被动混合执行器。通过磁流变制动器与直流电机的协调工作,获得可控的主动力矩和被动力矩。设计了转子截面具有T形结构的磁流变制动器,应用有限元法对制动器内部的磁路进行分析,获取了制动器的力学性能参数。在此基础上,研制了主/被动混合执行器,并建立了其力学性能测试系统,完成了实验研究。实验结果表明,所提出的方法既能够提供可控的主动力矩,又能够提供可控的被动力矩。所研制的主/被动混合执行器,可以满足智能助行器坡路助行的功能要求。

    Abstract:

    Abstract:Aiming at the walking assistant demand of smart walker on slope, a method of implementing active/passive torque is proposed. The method utilizes the characteristic of controllable resistance torque of magnetorheological (MR) brake, combines the MR brake, worm gear reducer and DC motor to compose an active/passive hybrid actuator. Controllable active and passive torques are obtained through the coordination operation of the MR brake and DC motor. An MR brake with the rotor section of Tshape was designed, then finite element method was used to analyze the magnetic circuit inside the brake, and the mechanical performance parameters of the brake were obtained. On this basis, the active/passive hybrid actuator was developed, its mechanical performance test system was established and the experiment study was completed. The experiment results show that the proposed method can provide both controllable active torque and controllable passive torque, and the developed active/passive hybrid actuator can meet the functional requirements of walking assistant of the smart walker on slope.

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李军强,赵蕾,秦成功,郭士杰.用于坡路助行的主/被动力矩实现方法研究*[J].仪器仪表学报,2020,41(1):84-91

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  • 在线发布日期: 2022-01-11
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