可穿戴式气动手腕运动康复研究
发布时间：2019-07-05 09:11
【摘要】：手腕运动康复训练是手腕康复的一种重要手段。传统康复训练器械大多采用电机驱动,运动中系统会产生急剧变化的冲击力,严重时对患者关节造成二次伤害。近年来气动柔性驱动器的迅速发展逐渐引起人们的重视,这种新型的驱动器不仅能够提供足够的输出力,更能大幅提高康复装置的安全性与柔顺性。本文通过研制一种基于气动柔性驱动器的可穿戴式手腕康复装置,为患者提供安全有效的手腕运动康复训练。首先分析了气动柔性驱动器的作用机理,并以此为基础建立了驱动器的有限元模型,对其进行运动分析及力学分析。根据驱动器的作用机理设计了几种横截面设计方案,并结合仿真分析选择力学特性最突出的设计方案。对方案中的主要参数进行了对比分析,得到各个参数对驱动器运动特性与力学特性的影响。最后根据参数分析的结果并结合实际情况对驱动器的初定参数设计进行改进,得到驱动器的最终设计方案。其次由驱动器的最终方案设计了驱动器的模具,使用硅橡胶材料制作驱动器的实物。对制作的驱动器做运动特性与力学特性的相关测试实验,最后把得到的实验数据与仿真数据进行了对比分析。在驱动器的基础上制作了可穿戴性气动手腕康复装置,并进行手腕康复装置的基本动作控制。实验结果表明通过合理的控制策略能很好地完成康复训练。最后对手腕康复装置的输出力矩等性能进行测试,验证手腕康复装置的可行性。
文内图片：
图片说明：图１．３邋３ＲＰＳ－Ｒ手腕康复机器人逡逑当今康复机器人的研究重点主要是结构的设计与控制算法分析，，结构设计的方案往逡逑
[Abstract]:Wrist sports rehabilitation training is an important means of wrist rehabilitation. Most of the traditional rehabilitation training instruments are driven by motor, and the system will produce a sharp change of impact force in exercise, which will cause secondary injury to the joints of patients in serious cases. In recent years, the rapid development of pneumatic flexible actuators has attracted more and more attention. this new type of actuator can not only provide enough output force, but also greatly improve the safety and compliance of rehabilitation devices. In this paper, a wearable wrist rehabilitation device based on pneumatic flexible driver is developed to provide safe and effective wrist exercise rehabilitation training for patients. Firstly, the action mechanism of pneumatic flexible actuator is analyzed, and the finite element model of pneumatic flexible actuator is established, and its motion analysis and mechanical analysis are carried out. According to the action mechanism of the driver, several cross section design schemes are designed, and the most prominent mechanical properties are selected according to the simulation analysis. The main parameters of the scheme are compared and analyzed, and the effects of each parameter on the motion and mechanical properties of the driver are obtained. Finally, according to the results of parameter analysis and the actual situation, the initial parameter design of the driver is improved, and the final design scheme of the driver is obtained. Secondly, the mold of the driver is designed by the final scheme of the driver, and the physical object of the driver is made of silicone rubber material. The motion and mechanical properties of the driver are tested. Finally, the experimental data and simulation data are compared and analyzed. On the basis of the driver, the wearable pneumatic wrist rehabilitation device is made, and the basic action control of the wrist rehabilitation device is carried out. The experimental results show that the rehabilitation training can be completed well by reasonable control strategy. Finally, the output torque of wrist rehabilitation device is tested to verify the feasibility of wrist rehabilitation device.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：R496
本文编号：2510424
文内图片：
图片说明：图１．３邋３ＲＰＳ－Ｒ手腕康复机器人逡逑当今康复机器人的研究重点主要是结构的设计与控制算法分析，，结构设计的方案往逡逑
[Abstract]:Wrist sports rehabilitation training is an important means of wrist rehabilitation. Most of the traditional rehabilitation training instruments are driven by motor, and the system will produce a sharp change of impact force in exercise, which will cause secondary injury to the joints of patients in serious cases. In recent years, the rapid development of pneumatic flexible actuators has attracted more and more attention. this new type of actuator can not only provide enough output force, but also greatly improve the safety and compliance of rehabilitation devices. In this paper, a wearable wrist rehabilitation device based on pneumatic flexible driver is developed to provide safe and effective wrist exercise rehabilitation training for patients. Firstly, the action mechanism of pneumatic flexible actuator is analyzed, and the finite element model of pneumatic flexible actuator is established, and its motion analysis and mechanical analysis are carried out. According to the action mechanism of the driver, several cross section design schemes are designed, and the most prominent mechanical properties are selected according to the simulation analysis. The main parameters of the scheme are compared and analyzed, and the effects of each parameter on the motion and mechanical properties of the driver are obtained. Finally, according to the results of parameter analysis and the actual situation, the initial parameter design of the driver is improved, and the final design scheme of the driver is obtained. Secondly, the mold of the driver is designed by the final scheme of the driver, and the physical object of the driver is made of silicone rubber material. The motion and mechanical properties of the driver are tested. Finally, the experimental data and simulation data are compared and analyzed. On the basis of the driver, the wearable pneumatic wrist rehabilitation device is made, and the basic action control of the wrist rehabilitation device is carried out. The experimental results show that the rehabilitation training can be completed well by reasonable control strategy. Finally, the output torque of wrist rehabilitation device is tested to verify the feasibility of wrist rehabilitation device.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：R496
【参考文献】
相关期刊论文 前2条
1 范伟,彭光正,黄雨;气动人工肌肉驱动器的研究现状及发展趋势[J];机床与液压;2003年01期
2 王生泽;金韬;;一种气动驱动新型上肢康复机器人[J];机械设计与制造;2011年03期
本文编号：2510424
本文链接：https://www.wllwen.com/huliyixuelunwen/2510424.html
最近更新
教材专著
