假肢手指机构构型及多指操作运动学研究

发布时间：2018-06-25 17:45

本文选题：假肢手指机构 + 运动链拓扑图　；参考：《中南大学》2014年硕士论文

【摘要】：以机构学作为理论基础,结合运动链拓扑图在机构构型方面的应用,本文对耦合型欠驱动假肢手指机构进行结构类型综合,对比各类型手指机构从而选择一种机构作为研究对象,并对由此类手指构成的假肢进行多指抓取操作的运动学分析。首先,在分析单开链叠加法基本性质的基础上,提出采用双色拓扑图描述含复合铰链的机构,并通过改进单开链叠加法的约束条件,得到适用于含复铰运动链的结构类型综合的方法。利用上述方法,分别对二自由度及三自由度的三指节手指机构进行构型。其次,为了使得最终确定的假肢手指机构能够更好的实现与人手相似的抓取方式,制定手指机构的对比标准。基于上述标准,在ADAMS中对前文得到的手指机构进行抓握运动仿真并对比结果,最终选出一种远指节接触力较大的三自由度三指节手指机构。再次,利用运动链拓扑图对多指抓取模型进行描述,以表示多指操作运动学各研究对象之间的关系。对于由三自由度手指构成的假肢,以单个手指的运动学分析为基础,在抓取对象质心运动轨迹已知的条件下,利用多指操作运动学的分析方法对多指抓取下各手指的运动规律进行分析。最后,利用现有的假肢手指实验平台进行实验,从而验证三自由度手指机构可以实现与人手相似的抓取动作。同时,测量自然运动过程中手指各指节的转动角度,从而得出指尖的运动轨迹,将其与运动学分析的结果进行对比,进一步验证理论计算的正确性。
[Abstract]:Based on the theory of mechanism and the application of kinematic chain topology in mechanism configuration, this paper synthesizes the structure types of coupling under-actuated prosthetic finger mechanism. By comparing each type of finger mechanism and selecting one kind of mechanism as the object of study, the kinematic analysis of multi-finger grasping operation is carried out on the prosthetic limb composed of this kind of finger. Firstly, on the basis of analyzing the basic properties of single open chain superposition method, a two-color topological graph is proposed to describe the mechanism with compound hinge, and the constraint condition of single open chain superposition method is improved. A method of structural type synthesis for kinematic chains with complex hinges is obtained. The two-degree of freedom and three-degree of freedom three-knuckle finger mechanism are constructed by using the above method. Secondly, in order to make the final determination of the prosthetic finger mechanism can better achieve the grasp similar to the hands, the comparative standard of finger mechanism is established. Based on the above standard, the grasping motion of the finger mechanism obtained in Adams is simulated and compared. Finally, a three-degree-of-freedom three-knuckle finger mechanism with higher contact force is selected. Thirdly, the multi-fingered grab model is described by using the kinematic chain topology graph to represent the relationship between the objects of multi-fingered operation kinematics. For the prosthetic limb composed of three degrees of freedom fingers, based on the kinematics analysis of a single finger, under the condition that the track of the object's centroid motion is known, The kinematics method of multi-finger manipulation is used to analyze the motion of each finger under multi-finger grasp. Finally, using the existing artificial finger experiment platform, it is verified that the three-degree-of-freedom finger mechanism can realize the grasp movement similar to that of the human hand. At the same time, the rotation angle of finger joints during natural motion is measured, and the movement track of finger tip is obtained. The results are compared with the results of kinematics analysis, and the correctness of theoretical calculation is further verified.
【学位授予单位】：中南大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP241;TH112

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