Shock Absorber Mechanism Based on an SMA Spring for Lightweight Exoskeleton Applications
Shock Absorber Mechanism Based on an SMA Spring for Lightweight Exoskeleton Applications
复制标题
DOI：
10.1007/s12541-019-00169-y
复制
发表时间：
2019-09
影响因子：
1.9
通讯作者：
Seungjun Lee;Sanghee Lee;Youngjin Na;B. Ahn;Hoeryong Jung;Shing Shin Cheng;Namkeun Kim;T. Jun;Yeongjin Kim
中科院分区：
文献类型：
--
作者：
Seungjun Lee;Sanghee Lee;Youngjin Na;B. Ahn;Hoeryong Jung;Shing Shin Cheng;Namkeun Kim;T. Jun;Yeongjin Kim
可穿戴外骨骼通常被设计成增强用户力量或减少用户疲劳。经常被忽视的两个领域是外骨骼应该提高用户安全性，并增加在极端环境中使用的耐用性。在本文中，我们开发了一种基于SMA弹簧的减震模块，用于外骨骼或四足步行机器人，它可以在极端环境中的高冲击事件期间为用户提供更好的保护。基于冲量和动量理论，分析了模块与地面碰撞时的冲击力。通过利用SMA弹簧固有的形状记忆特性，减震器模块可以在每次使用后重复使用。研究证实了SMA弹簧的弹簧常数和最大允许长度对冲量减小的影响，结果表明后者对冲量减小的影响更大。
Wearable exoskeletons have generally been designed to enhance user strength or to reduce user fatigue. Two areas that have often been overlooked are that exoskeletons should increase user safety and have increased durability for use in extreme environments. In this paper, we developed an SMA spring-based shock absorption module for an exoskeleton or a quadruped walking robot, which can provide increased protection to the user during high-impact events in an extreme environment. We analyzed the impact force during the collision between the module and the ground based on impulse and momentum theories. The shock absorber module can be reused by exploiting the inherent shape memory characteristics of the SMA spring after every use. We confirmed that the spring constant of the SMA spring and the maximum allowable length affect the impulse reduction, and the results showed that the latter has a greater influence on impulse reduction.