助力式下肢外骨骼机构设计与分析

发布时间：2017-12-31 09:06

本文关键词：助力式下肢外骨骼机构设计与分析　出处：《天津科技大学》2012年硕士论文　论文类型：学位论文

【摘要】：本论文在研读了大量国内外文献的基础上,总结了下肢外骨骼的主要研究内容和所需解决的关键问题,在人机工程学,人体解剖学和运动学的基础上,分析了人体下肢模型、人体行走运动学特征,然后通过拉格朗日方程建立和求解了下肢动力学方程,结合MATLAB和ADAMS进行动力学模型仿真计算,为下肢外骨骼的设计提供了基础。本文重点讨论了下肢外骨骼的机械结构设计原则,对外骨骼机械结构进行运动学分析,论述了外骨骼自由度选取、关节布位及总体设计方案。按照人机工程学理论,对下肢外骨骼方案进行了详细的结构设计,并基于三维参数化软件CATIA建立了外骨骼三维模型,而且通过正常步态和负重步态实验获取了相关的运动参数。将参数经MATLAB曲线拟合后,和人体实际运动情况进行比较,作为MATLAB和ADAMS仿真的输入信号,得出负重行走运动所需的力矩等参数,为驱动系统选型及运动控制打下基础。在完成上述研究的基础上,对下肢外骨骼进行了受力分析,首先分析外骨骼的工作状况及在不同工况下的负载,并依此为依据,对外骨骼的关键零部件进行了有限元分析和强度校核。通过分析,限制下肢外骨骼负重能力的主要因素是其驱动系统而不是外骨骼的结构强度。本文设计的下肢外骨骼结构合理,重量轻,具有较好的加工可行性,为外骨骼的产品化奠定了基础。同时本文设计的助行器系统是通过提取正常人体的运动信息来进行控制,是一种具有双足步行特征的典型人机一体化系统,也为类外骨骼的相关研究化奠定了基础。
[Abstract]:On the basis of reading a large number of domestic and foreign literatures, this paper summarizes the main research contents and key problems of exoskeleton of lower extremity, which are based on ergonomics, human anatomy and kinematics. The lower limb model and the kinematic characteristics of human walking are analyzed, and then the lower limb dynamics equation is established and solved by Lagrange equation, and the dynamic model is simulated with MATLAB and ADAMS. It provides a basis for the design of exoskeleton of lower extremity. This paper mainly discusses the mechanical structure design principle of exoskeleton in lower extremity, kinematics analysis of external skeletal mechanical structure, and the selection of exoskeleton degrees of freedom. According to the ergonomics theory, the exoskeleton scheme of lower limb was designed in detail, and the three-dimensional model of exoskeleton was established based on three-dimensional parameterized software CATIA. And through the normal gait and weight-bearing gait experiment, the related motion parameters are obtained. The parameters are fitted by MATLAB curve, and compared with the actual movement of human body. As the input signal of MATLAB and ADAMS simulation, the parameters such as torque needed for load-bearing walking are obtained, which lays the foundation for the selection of driving system and motion control. On the basis of the above research, the force of exoskeleton of lower limb is analyzed. Firstly, the working condition of exoskeleton and the load under different working conditions are analyzed. The finite element analysis and strength check of the key parts of the external skeleton are carried out. Through the analysis, the main factor limiting the lower extremity exoskeleton's load capacity is its driving system rather than the structural strength of the exoskeleton. The exoskeleton of lower extremity designed in this paper has reasonable structure, light weight and good processing feasibility. It lays the foundation for the exoskeleton production. At the same time, the walking aid system designed in this paper is a typical man-machine integration system with biped walking characteristics, which is controlled by extracting the normal human motion information. It also lays a foundation for the study of exoskeleton.
【学位授予单位】：天津科技大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112

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