中国空间科学技术

中国空间科学技术 ›› 2021, Vol. 41 ›› Issue (5): 75-84.doi: 10.16708/j.cnki.1000-758X.2021.0069

• 论文 • 上一篇    下一篇

主动航天服关节助力外骨骼结构设计及优化

李照阳，戴跃洪，胡杰俊，王君尧   

  1. 1 电子科技大学 航空航天学院，成都611731
    2 飞行器集群智能感知与协同控制四川省重点实验室，成都611731
  • 出版日期:2021-10-25 发布日期:2021-09-29

Structural design and optimization of the joint-assisted exoskeleton in active spacesuit

LI Zhaoyang，DAI Yuehong，HU Jiejun，WANG Junyao   

  1. 1 School of Aeronautics and Astronautics, University of Electronic Science and Technology of China，
    Chengdu 611731, China
    2 Key Laboratory of Aircraft Swarm Intelligent Sensing and Cooperative Control of Sichuan Province，
    Chengdu 611731, China

  • Published:2021-10-25 Online:2021-09-29

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摘要： 为克服航天服关节阻尼力矩对宇航员未来太空作业、星表探测以及骨骼肌能恢复训练的影响，设计一种可应用于航天服的关节助力外骨骼方案。首先，结合航天服结构分析，研制了第一代关节助力外骨骼样机。其次，根据使用反馈对第一代外骨骼样机进行结构优化，初步确定第二代外骨骼样机的设计模型，利用有限元软件对负重状态下外骨骼样机进行静力学分析及模态分析。最后，进一步优化第二代外骨骼样机的结构尺寸，优化后的整体质量相较于优化前第二代及第一代样机分别下降了19.34%和40.03%，验证了外骨骼样机结构优化方案的可行性。研究结果为主动航天服结构动力学分析和控制系统开发提供理论依据。

关键词: 主动航天服, 关节助力外骨骼, 结构优化, 阻力矩, 有限元分析

Abstract: A joint-assisted exoskeleton scheme was designed for spacesuits to get rid of the influence of spacesuits’ resistance moment on astronauts' future space operation, planetary exploration and skeletal muscle recovery training. Firstly, the first-generation prototype of the joint-assisted exoskeleton was developed based on the structural analysis of the simulated spacesuit. Then, according to the feedback, the structure of the first-generation exoskeleton prototype was optimized. The design model of the second-generation exoskeleton prototype was preliminarily determined, and finite element software was used to carry out the static analysis and modal analysis of the exoskeleton prototype under load condition. Finally, the structural dimensions of the second-generation exoskeleton prototype was further optimized, the overall mass decreased by 19.34% and 40.03% compared with the unoptimized second-generation and the first-generation prototypes, which verified the feasibility and validity of the exoskeleton prototype structural optimization scheme. The simulation results provide a theoretical basis for the structural dynamics analysis and control system development of the active spacesuit.

Key words: active spacesuit, joint-assisted exoskeleton, structure optimization, resistance moment, finite element analysis