上肢外骨骼助力机器人研究
发布时间：2018-12-14 12:26
【摘要】：当前,随着人们工作压力不断增大,以及生活中的不健康习惯增多,人体心脏骤停的几率增大,这时就需要对病人进行有效的心肺复苏急救。在这个过程中对按压的频率和幅度都有严格的要求,但是往往医生在心肺复苏过程中会体力透支,影响抢救的效果。本文针对这个难题设计了一种可以帮助医生增加力量的上肢外骨骼助力机器人,通过电机驱动系统来带动各个关节协调运动,将力传递到医生的手掌,接触病人进行抢救。这样既能够使医生更好的感知病人的实时情况,而且又能保持心肺复苏全程拥有足够的力量,实现最有效的抢救效果。而且此机构未来还可以用于协助残疾人完成上肢多个关节的康复训练。本文的主要研究内容如下:1.本文根据人体上肢各关节的运动特点,设计了心肺复苏外骨骼助力机器人结构方案,对驱动电机以及减速器进行了选型,并通过对关键结构进行应力分析,对该结构安全性进行了校核。2.建立了上肢助力机器人运动学模型,研究了运动学正、逆解。通过Matlab得出其工作空间,并利用Adams对外骨骼心肺复苏过程进行运动仿真分析。求出了外骨骼的雅克比矩阵,得到外骨骼机器人末端执行器实时的线速度与角速度。3.运用拉格朗日方程法建立动力学模型,运用Adams对外骨骼进行动力学仿真分析,得到各关节的力矩变化,为外骨骼控制提供更好的理论参考。4.针对所设计的上肢外骨骼助力机器人,分别利用传统PID控制和模糊自适应PID控制器进行分析,并在Matlab的Simulink模块中进行控制模型搭建与仿真,验证模糊PID控制器的性能。利用ADAMS和MATLAB针对外骨骼进行联合控制仿真,实现所设计的功能要求。通过实验研究了按压过程中各参数的变化,设计了幅度和频率调节控制策略,通过仿真和实验对比验证了其实用性。
[Abstract]:At present, with the increasing of people's work pressure and unhealthy habits in life, the probability of cardiac arrest increases, so it is necessary to carry on the effective CPR first aid to the patients. In this process, there are strict requirements for the frequency and amplitude of compression, but doctors often overdraft physical strength in the process of cardiopulmonary resuscitation, which affects the effect of rescue. In this paper, we design an exoskeleton robot which can help doctors to increase their strength. The robot can drive the coordinated motion of every joint through the motor drive system, transfer the force to the doctor's palm and contact the patient for rescue. This not only enables doctors to better perceive the patient's real-time situation, but also can maintain the whole process of cardiopulmonary resuscitation with sufficient strength to achieve the most effective rescue effect. And it could be used to help disabled people with multiple joints in their upper limbs. The main contents of this paper are as follows: 1. According to the motion characteristics of each joint of human upper limb, the structural scheme of exoskeleton booster robot for cardiopulmonary resuscitation (CPR) is designed in this paper. The driving motor and reducer are selected, and the stress analysis of the key structures is carried out. The safety of the structure was checked. 2. 2. The kinematics model of upper limb booster robot is established, and the forward and inverse kinematics solutions are studied. The workspace of exoskeleton cardiopulmonary resuscitation was obtained by Matlab, and the motion simulation of exoskeleton cardiopulmonary resuscitation was carried out by Adams. The Jacobian matrix of exoskeleton is obtained and the real time linear and angular velocities of exoskeleton robot end actuators are obtained. The dynamic model is established by Lagrange equation method, and the dynamics of exoskeleton is simulated by Adams. The torque changes of each joint are obtained, which provides a better theoretical reference for exoskeleton control. 4. The traditional PID control and fuzzy adaptive PID controller are used to analyze the designed exoskeleton robot. The control model is built and simulated in the Simulink module of Matlab to verify the performance of the fuzzy PID controller. ADAMS and MATLAB are used to simulate the exoskeleton. The variation of the parameters in the pressing process is studied experimentally, and the amplitude and frequency regulation control strategies are designed. The practicability is verified by simulation and experimental comparison.
【学位授予单位】：沈阳航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
本文编号：2378612
[Abstract]:At present, with the increasing of people's work pressure and unhealthy habits in life, the probability of cardiac arrest increases, so it is necessary to carry on the effective CPR first aid to the patients. In this process, there are strict requirements for the frequency and amplitude of compression, but doctors often overdraft physical strength in the process of cardiopulmonary resuscitation, which affects the effect of rescue. In this paper, we design an exoskeleton robot which can help doctors to increase their strength. The robot can drive the coordinated motion of every joint through the motor drive system, transfer the force to the doctor's palm and contact the patient for rescue. This not only enables doctors to better perceive the patient's real-time situation, but also can maintain the whole process of cardiopulmonary resuscitation with sufficient strength to achieve the most effective rescue effect. And it could be used to help disabled people with multiple joints in their upper limbs. The main contents of this paper are as follows: 1. According to the motion characteristics of each joint of human upper limb, the structural scheme of exoskeleton booster robot for cardiopulmonary resuscitation (CPR) is designed in this paper. The driving motor and reducer are selected, and the stress analysis of the key structures is carried out. The safety of the structure was checked. 2. 2. The kinematics model of upper limb booster robot is established, and the forward and inverse kinematics solutions are studied. The workspace of exoskeleton cardiopulmonary resuscitation was obtained by Matlab, and the motion simulation of exoskeleton cardiopulmonary resuscitation was carried out by Adams. The Jacobian matrix of exoskeleton is obtained and the real time linear and angular velocities of exoskeleton robot end actuators are obtained. The dynamic model is established by Lagrange equation method, and the dynamics of exoskeleton is simulated by Adams. The torque changes of each joint are obtained, which provides a better theoretical reference for exoskeleton control. 4. The traditional PID control and fuzzy adaptive PID controller are used to analyze the designed exoskeleton robot. The control model is built and simulated in the Simulink module of Matlab to verify the performance of the fuzzy PID controller. ADAMS and MATLAB are used to simulate the exoskeleton. The variation of the parameters in the pressing process is studied experimentally, and the amplitude and frequency regulation control strategies are designed. The practicability is verified by simulation and experimental comparison.
【学位授予单位】：沈阳航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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