کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
7196538 1468347 2017 24 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A rotary pneumatic actuator for the actuation of the exoskeleton knee joint
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی مکانیک
پیش نمایش صفحه اول مقاله
A rotary pneumatic actuator for the actuation of the exoskeleton knee joint
چکیده انگلیسی
Rotary pneumatic actuators that are made out of linear one are always best suited for exoskeleton joint actuation due to its inherent power to weight ratio. This work is a modified version of knee actuation system that has already been developed and major modifications are made in order to make it more suitable for human wearing and also to reduce its bulkiness and complexity. The considered actuator system is a rotary actuator where a pulley converts the linear motion of the standard pneumatic piston into the rotary motion. To prove the capability of the actuator, its performance characteristics such as torque and power produced are compared to the required torque and power at the knee joint of the exoskeleton in swing phase and are found to be excellent. The two-way analysis of variance (ANOVA) is performed to find the effect of the throat area valve on knee angle. The ANOVA shows the significant effect of the throat area variation on the knee angle flexion made by the proposed actuator. A relationship between the throat area of flow control valve, that is connected to the exit port of the direction control valve, and angular displacement of the knee joint has been formulated. This relationship can be used to design a control system to regulate the mass flow rate of air at the exit and hence the angular velocity of the knee joint can be controlled.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Theoretical and Applied Mechanics Letters - Volume 7, Issue 4, July 2017, Pages 222-230
نویسندگان
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