【摘要】 为提高航天服下肢活动的灵活性,给出一种耦合硬质髋关节的机构模型、表达参数及约束条件。根据机构设计原理,建立大腿-髋关节耦合的混合机构模型,完成机构自由度的计算。采用矢量表达法,建立大腿-髋关节机构的平面运动方程,完成髋关节机构的运动计算与分析。结果表明:髋关节概念模型与人体下肢具有相同的自由度,建立的机构运动方程与实际人体大腿的运动形式相一致,髋关节机构模型是合理可行的。更多还原

【Abstract】 To improve the flexibility of spacesuit, a mechanism model of spacesuit hard hip joint, as well as the model parameters and related constraints were proposed. By using the mechanism design theory, a coupling model of the thigh-hip joint component was built and the degree of freedom of the model was calculated. Based on the vector representation method, the motion characteristics of the hip joint mechanism was discussed. Moreover, the motion equation for the mechanism was established and then was verified by a case study. The calculation results showed that the proposed concept model had the same degree of freedom as the human lower limbs and the motion function was similar to the motion of human thigh. The proposed hip joint mechanism model is reasonable and feasible.更多还原