一种新型踝关节康复训练机器人机构的研究

发布时间：2018-01-15 06:06

本文关键词：一种新型踝关节康复训练机器人机构的研究　出处：《中北大学》2017年硕士论文　论文类型：学位论文

【摘要】：本文将少自由度并联机构应用于踝关节康复训练机器人,通过介绍人体踝关节医学结构和目前常见的少自由度并联机构,综合设计出一款基于3-SPS/S并联机构的人体踝关节康复训练机器人,并对该康复训练机器人机构进行了运动学、动力学、工作空间分析及运动仿真。首先,本文对现如今出现的多种踝关节损伤情况进行了阐述,踝关节损伤多发生于运动员、老龄化人群以及生活中的意外伤害;列举出目前国内外已应用的多种踝关节康复器械以及最前沿的研究现状;提出并联机构中少自由度的优越性以及其在康复医疗方面的应用。其次,本文分析了人体下肢踝关节部位的基本结构,主要包括人体踝关节的医学结构及运动功能,在此基础之上推出设计人体踝关节康复训练机器人的条件。详细阐述了人体康复治疗理论基础和踝关节康复训练机器人设计方案,并提出了康复训练机器人机构设计的安全性要求。再次,在人体康复医疗理论基础上提出几种可以实现人体踝关节康复训练的并联机构,并确定本文所研究的构型,即3-SPS/S并联机构。并以螺旋理论为依据对机构进行自由度分析,使用矩阵法来描述机构的运动学,以雅克比矩阵为依据对踝关节康复机构进行了速度和加速度分析,运用拉格朗日的方法对机构的动力学进行了分析。基于对该康复机构运动性能的分析,使用Matlab软件仿真编程运算出了3-SPS/S并联机构的工作空间,从而确认此机构是否适用于人体踝关节的康复训练。最后,使用Solidworks三维制图软件绘制出3-SPS/S踝关节康复机构,并导入Adams分析软件中进行机构杆件的运动学及动力学分析,所得结果与经过Matlab编程计算结果进行对比,验证其可行性。
[Abstract]:In this paper, the small degree of freedom parallel mechanism is applied to the ankle rehabilitation training robot. The medical structure of the human ankle joint and the common parallel mechanism of the few degrees of freedom are introduced in this paper. A human ankle rehabilitation training robot based on 3-SPS / S parallel mechanism is designed, and the kinematics and dynamics of the robot mechanism are studied. Workspace analysis and motion simulation. First of all, this paper describes the current situation of various ankle injuries, ankle injuries mostly occur in athletes, aging people and life in the accidental injury; This paper lists a variety of ankle rehabilitation instruments used at home and abroad and the most advanced research status. Put forward the advantages of less degrees of freedom in parallel mechanism and its application in rehabilitation. Secondly, this paper analyzes the basic structure of the ankle joint of human lower limbs. It mainly includes the medical structure and movement function of human ankle joint. On this basis, the design conditions of human ankle rehabilitation training robot are presented. The theoretical basis of human rehabilitation therapy and the design scheme of ankle rehabilitation training robot are described in detail. And put forward the safety requirements of the mechanism design of rehabilitation training robot. Thirdly, on the basis of the theory of human rehabilitation medical treatment, several parallel mechanisms which can realize the rehabilitation training of human ankle joint are put forward. And the configuration studied in this paper, namely 3-SPS / S parallel mechanism, is determined. The kinematics of the mechanism is described by matrix method, which is based on the helical theory to analyze the degree of freedom of the mechanism. Based on the Jacobian matrix, the velocity and acceleration of the ankle rehabilitation mechanism were analyzed, and the dynamics of the mechanism was analyzed by using Lagrangian method. The workspace of 3-SPS / S parallel mechanism is calculated by using Matlab software, so as to confirm whether the mechanism is suitable for the rehabilitation training of human ankle. Finally. The 3-SPS / S ankle rehabilitation mechanism was drawn by using Solidworks 3D mapping software, and the kinematics and dynamics analysis of the mechanism members was carried out by introducing the Adams analysis software. The results obtained are compared with those calculated by Matlab programming, and the feasibility is verified.
【学位授予单位】：中北大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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