Abstract:  An upper limb wearable industrial assembly anti-vibration exoskeleton was proposed as an intervention measure for hand-arm vibrations. A parametric human-machine coupling simulation model was established by ADAMS. To optimize the structural parameters of the exoskeleton damping units， a single-factor vibration response analysis was conducted on the exoskeleton damping unit structures. It is found that the damper damping coefficient and installation positions were the key factors affecting the damping performance of the exoskeletons， and the front and rear spring stiffnesses of the shear damping structure were better when taken differently. The best combination of the modified factor levels was obtained through cross-orthogonal tests. The vibration reduction performance of the exoskeleton prototype was evaluated by vibration resistance tests using contact pressure and weighted vibration values as indicators. The exoskeletons reduce contact pressure by approximately 39.9% in riveting period and 49.4% in intermittent period. Wearing the exoskeletons reduce the daily contact vibration values by 15.1% and increase the riveting efficiency by up to 18% in a single day. The changes in contact pressure and vibration values demonstrate that the exoskeletons provide vibration reduction and tool support. 

Key words: anti-vibration exoskeleton, hand-arm vibration, ADAMS parameterization, interaction, orthogonal test

摘要： 针对手传振动问题，设计出一种上肢穿戴式工业装配抗振外骨骼作为干预装备。采用ADAMS建立了参数化的人机耦合仿真模型；为优化外骨骼减振单元结构参数，对外骨骼减振单元结构进行了单因素振动响应分析，发现减振器阻尼系数及安装位置是影响外骨骼减振性能的关键因素，剪式减振结构的前后弹簧刚度差异化取值时的效果更佳，通过交互正交试验得到修正的最佳因素水平组合。以接触压力和计权振动值为指标，通过抗振性能试验来评估外骨骼样机的减振性能，发现外骨骼在铆接期可减小约39.9%的接触压力，在间歇期接触压力减小49.4%，穿戴外骨骼可减小15.1%的日接振值，单日铆接效率最大可提高18%；接触压力和接振值的变化证明外骨骼具有减振及工具支撑功能。

关键词: 抗振外骨骼, 手传振动, ADAMS参数化, 交互作用, 正交试验