轻量化多自由度人体上肢假肢的设计与开发

发布时间：2018-03-26 03:14

本文选题：上肢假肢　切入点：轻量化　出处：《哈尔滨工业大学》2017年硕士论文

【摘要】：由于交通事故、工伤和自然灾害等因素,我国截肢患者人数众多。为了早日恢复身体健康,提高生活自理能力,回归基本社会劳动,安装假肢对于截肢患者来说显得尤为迫切。为了帮助截肢患者弥补身心创伤,恢复部分身体缺陷,需要研发更加轻巧实用的多自由度上肢假肢。然而当前我国上肢假肢的研发设计大多处于初级阶段,只有单自由度的运动功能甚至只起修饰作用。少数多自由度上肢假肢结构复杂、尺寸质量较大,与实际人体手臂尺寸难以匹配,达不到轻量化的要求,反而增加了截肢患者的身体负担,因此研发一种轻量化多自由度上肢假肢显得至关重要。针对大部分截肢患者的需求,本文研究了一种轻量化多自由度上肢假肢结构,功能上能满足截肢患者的使用要求,形状尺寸与正常人体手臂相似,并且尽量降低假肢质量以减轻患者的使用负担。首先,通过分析现有国内假肢主流产品,充分认识了目前上肢假肢设计的热点及难点,发现上肢假肢以单自由度假肢手为主,肩关节假肢研究还存在缺口。针对假肢结构轻量化设计这一研究热点做了深入研究。其次,分析了人体上肢生理参数与运动范围,并以此作为上肢假肢的设计依据。在确定了假肢的运动功能后,合理设计上肢假肢的自由度分布方式,对上肢假肢的尺寸质量与活动范围提出设计要求。再次,采用三维软件对上肢假肢进行结构设计。为使设计结构紧凑,减小假肢的尺寸,采用差动机构实现肩部的两个运动自由度。根据设计轻量化的要求,采用绳传动方式代替常见的齿轮传动。驱动机构采用带有行星减速箱的直流伺服电机。设计过程中还对上肢假肢重要结构件进行强度校核验算,对钢丝绳进行选型计算。然后,为了实现上肢假肢的智能化控制,对假肢进行了运动学分析。根据上肢假肢的结构建立其D-H运动坐标系,分析其运动学正解。在上肢假肢逆运动学分析上,采用了几何法与迭代法两种方法。运用蒙特卡洛法求解假肢的工作空间,并与实际工作空间进行比较。最后,设计开发了上肢假肢的控制系统,对上肢假肢各关节进行运动控制,完成了上肢假肢的关节测试与基本动作测试,实验结果满足设计要求。
[Abstract]:As a result of traffic accidents, industrial injuries and natural disasters, there are a large number of amputees in China. In order to restore physical health as soon as possible, to improve their ability to take care of themselves, and to return to basic social labor, Prosthesis is especially urgent for amputees. In order to help amputees recover from physical and mental trauma and recover some of their physical defects, There is a need to develop more lightweight and practical upper limb prostheses with multiple degrees of freedom. However, at present, most of the research and design of upper limb prostheses in China are in the primary stage. Only the motion function of single degree of freedom can only be modified. The structure of a few multi-degree-of-freedom upper limb prostheses is complex, and the size of the prosthesis is large, which is difficult to match with the actual size of the human arm, and can not meet the requirement of lightweight. On the contrary, it increases the body burden of amputation patients, so it is very important to develop a lightweight multi-degree-of-freedom upper limb prosthesis. In order to meet the needs of most amputation patients, this paper studies a lightweight multi-degree-of-freedom upper limb prosthesis structure. Function can meet the requirements of amputation patients, shape and size is similar to the normal human arm, and try to reduce the quality of prosthesis to reduce the burden of use of patients. First, through the analysis of the existing domestic mainstream prosthetic products, This paper fully recognizes the hot and difficult points in the design of upper limb prosthesis, and finds that the upper limb prosthesis is dominated by a single degree of freedom prosthesis hand, and there is still a gap in the research of shoulder joint prosthesis. The research focus on lightweight design of prosthetic structure is studied deeply. Secondly, The physiological parameters and movement range of human upper limb are analyzed, which is used as the basis for the design of upper limb prosthesis. After determining the movement function of prosthesis, the distribution of degrees of freedom of upper limb prosthesis is reasonably designed. The design requirements for the dimension, quality and range of movement of the upper limb prosthesis are put forward. Thirdly, the structural design of the upper limb prosthesis is carried out by using 3D software. In order to make the design structure compact and reduce the size of the prosthesis, The differential mechanism is used to realize the two degrees of freedom of motion of the shoulder. According to the requirement of lightweight design, This paper adopts rope transmission instead of common gear transmission. The driving mechanism adopts DC servo motor with planetary deceleration box. In the design process, the strength check and calculation of the important structure of upper limb prosthesis are carried out, and the type selection of steel wire rope is calculated. In order to realize the intelligent control of the upper limb prosthesis, the kinematics analysis of the prosthesis is carried out. According to the structure of the upper limb prosthesis, the D-H kinematic coordinate system is established, and the kinematics positive solution is analyzed. The geometric method and iterative method are adopted. The Monte Carlo method is used to solve the workspace of the prosthesis, and it is compared with the actual workspace. Finally, the control system of the upper limb prosthesis is designed and developed. The motion control of each joint of the upper limb prosthesis is carried out, and the joint test and basic motion test of the upper limb prosthesis are completed. The experimental results meet the design requirements.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：R496

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