面向穿戴机械的机液耦合人体行走能量再生原理及液压能调控方法

Intelligent wearable devices are typical combinations of information and manufacture technology, leading the fashion trend of intelligent manufacturing industry in future. In order to cover the shortage of the current drive system that strongly depends on external power supply, investigation into key issues on human walking energy regeneration based wearable machines is conducted employing mechanical and hydraulic energy conversion. Dynamic distribution of energy generated during walking and energy conversion mechanism are explored theoretically. Energy converting component is developed and efficient energy recovery method is proposed considering ergonomic design. Power transmission model of compact hydraulic system is created and the effect of external load on the system dynamics and energy efficiency is explained so as to improve the design theory of dynamic compliance of hydraulic systems. Interactions between actuator motion and hydraulic system dynamics are revealed considering human machine collaboration, and energy regulation principle for hydraulic system is also focused at the same time. Based on theoretical analysis and experimentations, method for multi-objective optimization and design of drive system parameter is finally put forward. it is expected that the research achievements will be not only essential to extend the hydraulics to find application in the fields featured by compactness, high efficiency and intelligence, but also very significant to support theoretically and technically to sophisticated equipment manufacturing industry in China.

智能穿戴设备是信息技术与制造技术深度融合的典范，其核心技术体现了智能装备制造业的未来发展趋势。项目针对穿戴设备驱动系统目前存在外部供能依赖性强的弱点，基于前期研究积累对机液耦合人体行走能量再生原理及其在穿戴机械应用中的科学问题开展研究。探索人体行走能量动态分布规律及机液耦合能量转化机理，研制机液能量转化机构，提出考虑人体舒适性的人体行走能量高效回收方法；建立紧凑型机液耦合系统能量传递模型，明确外载荷对系统动态特性及能效的影响关系，完善液压系统外力载荷顺应性设计理论体系；揭示人机协同状态下执行机构运动特征与机液耦合系统动态特性相互作用规律，阐明人机协同式机液耦合系统能量调控原理，在理论分析和实验验证基础上，提出系统特征参数设计和多目标优化方法。预期成果不仅对液压驱动未来向紧凑、高效、智能应用领域延伸具有促进作用，而且为我国高端智能装备自主创新能力的提升提供理论和技术支撑，具有重要研究意义和应用价值。

项目针对液压助力外骨骼驱动系统目前存在外部供能依赖性强的弱点，基于前期研究积累对机液耦合人体行走能量再生原理及其在外骨骼等穿戴机械应用中的科学问题开展研究。探索了人体行走能量动态分布规律及机液耦合能量转化机理，研制了足式机液能量转化机构，提出了考虑人体舒适性的人体行走能量高效回收方法；建立了紧凑型机液耦合系统能量传递模型，获得了外载荷对系统动态特性及能效的影响关系，完善了液压系统外力载荷顺应性设计方法；揭示了人机协同状态下执行机构运动特征与机液耦合系统动态特性相互作用规律，阐明了人机协同式机液耦合系统能量存储原理，在理论分析和实验验证基础上，提出了能量回收液压系统特征参数设计和多目标优化方法。研究成果不仅对液压驱动未来向紧凑、高效、智能应用领域延伸具有促进作用，而且为我国高端智能装备自主创新能力的提升提供理论和技术支撑，具有重要研究意义和应用价值。