1、外骨骼機械設計結(jié)構(gòu)分類1. 類人外骨骼類人型外骨骼設計必須考慮適應每個操作者的身材體型以及承載能力2. 非類人型外骨骼BLEEX外骨骼設計髖關(guān)節(jié)3自由度膝關(guān)節(jié)1自由度踝關(guān)節(jié)1自由度旋轉(zhuǎn)角度范圍執(zhí)行器選擇液壓執(zhí)行器能量消耗Assuming a supply pressure of 6.9 MPa (1000 psi), the BLEEX actuators are sized to provide the joint torques seen in CGA data 24. BLEEX uses 19.05 mm (0.75 inch) bore,double-acting linear pi

2、ston-cylinders for all its joints. Once the actuator sizes and mounting positions were chosen toensure the required range of motion Table 1 and required torque 24, the joint velocity data was used to determine the average fluid flow rate required to walk. The power sources built for BLEEX all provid

3、e a constant supply pressure of 6.9 MPa (1000 psi) to the servovalves at all times, regardless of the desired actuator force and speed. Therefore, the average hydraulic power for each actuator is determined by multiplying the average flow rate by the supply pressure. For BLEEX, the ankle, knee, and

4、hip flexion/extension joints require an average of 1.3 kW of hydraulic power to walk 24. An additional 540 W of hydraulic power is necessary for maneuvers other than walking and for the hip abduction/adduction actuators. 4-way, double-stage servovalves were selected to control the actuators due to their high bandwidth, high flow rates, and low electrical power requirements. These valves require approximately 28 W of hydraulic power each, so the eight valves consume 224 W total. The total hydraulic power requirement for the 75 kg BLEEX (and payload) to walk at 1.3 m/s