一种6URHS头颈部外骨骼系统动力学影响因素的分析

头颈部外骨骼系统是一种为虚拟现实交互设备—头盔显示器提供主动控制的系统。而该系统执行机构—6URHS平台的动力学特性是否能满足头部运动的要求,将会直接影响到整个系统的使用效果。针对执行机构结构的特殊性,建立了动力学模型,分析了影响外骨骼系统动力学特性的主要影响因素,设计了动平台质量等6因素3水平共18组正交试验,利用极差分析法对影响因素进行了定量比较分析。结果表明外筒惯量对6URHS并联平台的动力学特性影响最为明显,而外筒质量与外筒惯量的极差和比小于1/8,其对6URHS并联平台的影响最弱。

Analysis of Factors Affecting Kinetics of 6URHS Head and Neck Exoskeleton System

The head and neck exoskeleton system is a system that provides active control of the virtual reality interactive device-helmet display. Whether the dynamics of the 6URHS platform manipulator can meet the requirements of the head movement will directly affect the usage effect of the whole system. In view of the particularity of the implementing agency structure, a dynamic model was set up. The main influential factors that affect the dynamics of exoskeleton system were analyzed. An orthogonal test including moving platform quality of 18 groups--six factors and three levels was designed. The affecting factors were analyzed by range analysis quantitatively. Experiments show that the outer cylinder inertia affects the dynamics of 6URHS platform the most clearly. And the sum of poor of outer cylinder mass which affects the dynamics of 6URHS platform the least is less than 1/8 of that of outer cylinder inertia.