一种助行装置的建模、仿真与驱动系统硬件设计

发布时间：2018-05-28 03:33

本文选题：爬楼装置 + 人体工程学　；参考：《南京理工大学》2012年硕士论文

【摘要】：针对我国拥有较多行动不便的老龄人口及下肢伤残者的实际情况,为了帮助此类人群克服楼梯障碍,扩大他们的活动范围,本文以一种具有爬楼功能的助行装置为研究对象,主要进行了如下工作：首先,介绍助行装置的爬楼机理,给出全自动与半自动两种方案并说明切换系统的组成。根据人体工程学及爬楼约束关系,设计装置的有关尺寸,并对相关指标进行校核。最后,利用三维建模软件SolidWorks,建立了装置各部分的零件模型并进行整机装配。其次,通过简化,推导助行装置的平地运动学方程。根据爬楼机理,抽象出运行过程中需要控制的关节参量,将爬楼过程细化,分阶段讨论了装置上下楼过程中的运动特点并给出相应的运动学模型,同时设计用于运动学计算的用户图形界面。运用矩阵变换有关理论得到某产品的运动模型,所设计的助行装置与之比较在一定程度上优化了运动轨迹。然后,将助行装置的三维CAD模型通过中间文件导入ADAMS中,将运动学有关数据生成装置的驱动函数,通过添加材料及相关约束等构建了装置的虚拟样机模型。分别对助行装置的上下楼过程进行仿真,结果表明了爬楼方案的可行性并为实际样机制造提供参考。最后,选择爬楼机构的电机及控制器,并设计其驱动系统硬件电路。硬件电路分为最小系统、驱动部分、保护电路及电源电路等,分别基于栅极驱动芯片及智能功率模块设计两种驱动方案,并对各模块进行了相应的调试,结果表明硬件电路设计良好。
[Abstract]:In view of the actual situation of the elderly population with more mobility difficulties and the disabled lower limbs in our country, in order to help these people overcome the stair obstacle and expand their range of activities, this paper takes a walking aid device with the function of climbing the building as the research object. The main tasks were as follows: Firstly, the climbing mechanism of the walking aid is introduced, the automatic and semi-automatic schemes are given and the composition of the switching system is explained. According to ergonomics and climbing constraints, design the relevant dimensions of the device, and check the relevant indicators. Finally, the 3D modeling software SolidWorks is used to set up the parts model of each part of the device and assemble the whole machine. Secondly, through simplification, the kinematics equation of the moving aid is deduced. According to the climbing mechanism, the joint parameters needed to be controlled in the running process are abstracted, and the climbing process is refined. The motion characteristics and the corresponding kinematics model of the upper and lower floors are discussed in stages. At the same time, the user graphical interface for kinematics calculation is designed. The motion model of a product is obtained by using matrix transformation theory, and the motion trajectory is optimized to a certain extent by comparing the designed device with it. Then, the 3D CAD model of the device is imported into the ADAMS through the intermediate file, the driving function of the device is generated by the kinematics related data, and the virtual prototype model of the device is constructed by adding materials and related constraints. The simulation results show the feasibility of the climbing scheme and provide reference for the actual prototype manufacture. Finally, the motor and controller of building climbing mechanism are selected, and the hardware circuit of driving system is designed. The hardware circuit is divided into minimum system, drive part, protection circuit and power supply circuit. Two kinds of drive schemes are designed based on gate drive chip and intelligent power module respectively, and each module is debugged accordingly. The results show that the hardware circuit is well designed.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH789

【引证文献】