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个人信息Personal Information
教授 硕士生导师
招生学科专业:
机械工程 -- 【招收硕士研究生】 -- 航空学院
航空宇航科学与技术 -- 【招收硕士研究生】 -- 航空学院
机械 -- 【招收硕士研究生】 -- 航空学院
毕业院校:南京航空航天大学
学位:工学博士学位
联系方式:yanglin@nuaa.edu.cn
A Wire-Driven Series Elastic Mechanism Based on Ultrasonic Motor for Walking Assistive System
点击次数:
影响因子:4.2
DOI码:10.1186/s10033-023-00903-8
所属单位:南京航空航天大学
教研室:航空学院-精密驱动与控制研究所
发表刊物:Chinese Journal of Mechanical Engineering
关键字:Ultrasonic motor Wire-driven Series elastic mechanism Walking assistive system Pulley Reduction ratio
摘要:In order to improve the elderly people's quality of life, supporting their walking behaviors is a promising technology. Therefore, based on one ultrasonic motor , a wire-driven series elastic mechanism for walking assistive system is proposed and investigated in this research. In contrast to tradition, it innovatively utilizes an ultrasonic motor and a wire-driven series elastic mechanism to achieve superior system performances in aspects of simple structure, high torque/weight ratio, quiet operation, quick response, favorable electromagnetic compatibility, strong shock resistance, better safety, and accurately stable force control. The proposed device is mainly composed of an ultrasonic motor , a linear spring, a steel wire, four pulleys and one rotating part. To overcome the ultrasonic motor 's insufficient output torque, a steel wire and pulleys are smartly combined to directly magnify the torque instead of using a conventional gear reducer. Among the pulleys, there is one tailored pulley playing an important role to keep the reduction ratio as 4.5 constantly. Meanwhile, the prototype is manufactured and its actual performance is verified by experimental results. In a one-second operating cycle, it only takes 86 ms for this mechanism to output an assistive torque of 1.6 N & BULL;m. At this torque, the ultrasonic motor 's speed is around 4.1 rad/s. Moreover, experiments with different operation periods have been conducted for different application scenarios. This study provides a useful idea for the application of ultrasonic motor in walking assistance system .
论文类型:期刊论文
学科门类:工学
文献类型:J
卷号:36
期号:1
是否译文:否
发表时间:2023-07-10
收录刊物:EI、SCI、SCIE
合写作者:Yoshioka, Hiroki,Yang, Lin,Morita, Takeshi