前庭功能检测、训练及康复综合装置的研发

发布时间：2018-03-16 13:49

本文选题：动力学　切入点：有限元分析　出处：《天津大学》2014年硕士论文　论文类型：学位论文

【摘要】：针对耳石症(眩晕症)的自动化治疗以及航天员和飞行员对前庭功能的检测和训练的需求,在前人所设计的环形方案的基础上,提出了一种新型的4自由度机构,该机构可以实现人的头部在空间上的三维运动,满足运动需求。本文主要研究的内容如下:在机构的结构上设计了三个转动副和一个移动副,相邻转动副在空间上是垂直且相交的,移动副在机构末端,可实现沿动平台垂直方向的移动,这样的设计可以提高旋转座椅在空间运动的灵活性;将机构中的旋转框架1设计为类椭圆形,降低了装置的空间占用量;为满足不同人使用,将旋转座椅设计为空间大小可调式的。利用Grubler-Kutzbach公式计算了机构的自由度;借助D-H方法建立了机构在初始状态下的运动学正逆解解析模型;利用该模型中的位姿矩阵,构造机构速度雅克比矩阵;运用拉格朗日动力学公式建立了机构的动力学模型;最后,在以上基础上,通过算例分析了动平台位姿,速度以及驱动转矩等的变化规律。利用Matlab和Adams软件对机构进行运动学和动力学计算和仿真,做出相应的运动图像;将Matlab中的函数图像与Adams中的仿真图像进行对比,验证推导公式的正确性。运动学和动力学模型为后期系统控制提供了可靠的运动参数。针对机构的结构特点,建立了有限元分析模型。根据实际工作情况,对模型刚度最差的的位姿进行了静力分析;对模型进行了模态分析,提取了前四阶固有频率及振型图。根据静力学和模态分析的结果对旋转框架进行了多目标多尺寸的优化设计。对优化后的模型再次进行有限元分析,结果表明优化后的结构其静动态特性有了明显的改善。利用西门子S7-300PLC对三个伺服电机进行控制,并将控制集成在触摸屏操作面板上,实现装置运行的自动化。以上研究内容为进一步开展对此装置的细化研究奠定了理论基础。
[Abstract]:In view of the automatic treatment of otolithiasis (vertigo) and the need for the detection and training of vestibular function by astronauts and pilots, a new four-degree-of-freedom mechanism was proposed on the basis of the annular scheme designed by the predecessors. This mechanism can realize the three-dimensional movement of human head in space and meet the need of motion. The main contents of this paper are as follows: in the structure of the mechanism, three rotating pairs and one moving pair are designed. The adjacent rotating pair is vertical and intersected in space, and the moving pair is at the end of the mechanism, which can move along the vertical direction of the moving platform. This design can improve the flexibility of the rotating seat in the space motion. The rotating frame 1 in the mechanism is designed as a kind of ellipsoid, which reduces the space consumption of the device, and the rotating seat is designed as a space adjustable type to satisfy different people's use. The degree of freedom of the mechanism is calculated by using the Grubler-Kutzbach formula. Based on D-H method, an analytical model of kinematics forward and inverse solution of mechanism in initial state is established, a velocity Jacobian matrix is constructed by using the pose matrix of the model, and a dynamic model of mechanism is established by using Lagrangian dynamic formula. Finally, on the basis of the above, the changing law of the position, velocity and driving torque of the moving platform is analyzed through an example. The kinematics and dynamics of the mechanism are calculated and simulated by using Matlab and Adams software, and the corresponding motion images are made. The function image in Matlab is compared with the simulation image in Adams to verify the correctness of the derived formula. Kinematics and dynamics model provide reliable motion parameters for later system control. The finite element analysis model is established. According to the actual working conditions, the static analysis of the position and pose of the model with the worst stiffness is carried out, and the modal analysis of the model is carried out. The first four natural frequencies and mode shapes were extracted. The multi-objective and multi-dimension optimization design of the rotating frame was carried out according to the results of static and modal analysis. The optimized model was analyzed again by finite element method. The results show that the static and dynamic characteristics of the optimized structure have been improved obviously. Siemens S7-300 PLC is used to control the three servo motors, and the control is integrated on the touch screen operating panel. The above research contents lay a theoretical foundation for further detailed research on the device.
【学位授予单位】：天津大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：R764;R496

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