本文關(guān)鍵詞：助力式下肢外骨骼機(jī)構(gòu)設(shè)計(jì)與分析　出處：《天津科技大學(xué)》2012年碩士論文　論文類(lèi)型：學(xué)位論文

  更多相關(guān)文章： 下肢外骨骼 結(jié)構(gòu)設(shè)計(jì) 仿真分析 助力設(shè)備 有限元分析

【摘要】：本論文在研讀了大量國(guó)內(nèi)外文獻(xiàn)的基礎(chǔ)上,總結(jié)了下肢外骨骼的主要研究?jī)?nèi)容和所需解決的關(guān)鍵問(wèn)題,在人機(jī)工程學(xué),人體解剖學(xué)和運(yùn)動(dòng)學(xué)的基礎(chǔ)上,分析了人體下肢模型、人體行走運(yùn)動(dòng)學(xué)特征,然后通過(guò)拉格朗日方程建立和求解了下肢動(dòng)力學(xué)方程,結(jié)合MATLAB和ADAMS進(jìn)行動(dòng)力學(xué)模型仿真計(jì)算,為下肢外骨骼的設(shè)計(jì)提供了基礎(chǔ)。 本文重點(diǎn)討論了下肢外骨骼的機(jī)械結(jié)構(gòu)設(shè)計(jì)原則,對(duì)外骨骼機(jī)械結(jié)構(gòu)進(jìn)行運(yùn)動(dòng)學(xué)分析,論述了外骨骼自由度選取、關(guān)節(jié)布位及總體設(shè)計(jì)方案。按照人機(jī)工程學(xué)理論,對(duì)下肢外骨骼方案進(jìn)行了詳細(xì)的結(jié)構(gòu)設(shè)計(jì),并基于三維參數(shù)化軟件CATIA建立了外骨骼三維模型,而且通過(guò)正常步態(tài)和負(fù)重步態(tài)實(shí)驗(yàn)獲取了相關(guān)的運(yùn)動(dòng)參數(shù)。將參數(shù)經(jīng)MATLAB曲線擬合后,和人體實(shí)際運(yùn)動(dòng)情況進(jìn)行比較,作為MATLAB和ADAMS仿真的輸入信號(hào),得出負(fù)重行走運(yùn)動(dòng)所需的力矩等參數(shù),為驅(qū)動(dòng)系統(tǒng)選型及運(yùn)動(dòng)控制打下基礎(chǔ)。 在完成上述研究的基礎(chǔ)上,對(duì)下肢外骨骼進(jìn)行了受力分析,首先分析外骨骼的工作狀況及在不同工況下的負(fù)載,并依此為依據(jù),對(duì)外骨骼的關(guān)鍵零部件進(jìn)行了有限元分析和強(qiáng)度校核。通過(guò)分析,限制下肢外骨骼負(fù)重能力的主要因素是其驅(qū)動(dòng)系統(tǒng)而不是外骨骼的結(jié)構(gòu)強(qiáng)度。 本文設(shè)計(jì)的下肢外骨骼結(jié)構(gòu)合理,重量輕,具有較好的加工可行性,為外骨骼的產(chǎn)品化奠定了基礎(chǔ)。同時(shí)本文設(shè)計(jì)的助行器系統(tǒng)是通過(guò)提取正常人體的運(yùn)動(dòng)信息來(lái)進(jìn)行控制,是一種具有雙足步行特征的典型人機(jī)一體化系統(tǒng),也為類(lèi)外骨骼的相關(guān)研究化奠定了基礎(chǔ)。
[Abstract]:On the basis of reading a large number of domestic and foreign literatures, this paper summarizes the main research contents and key problems of exoskeleton of lower extremity, which are based on ergonomics, human anatomy and kinematics. The lower limb model and the kinematic characteristics of human walking are analyzed, and then the lower limb dynamics equation is established and solved by Lagrange equation, and the dynamic model is simulated with MATLAB and ADAMS. It provides a basis for the design of exoskeleton of lower extremity. This paper mainly discusses the mechanical structure design principle of exoskeleton in lower extremity, kinematics analysis of external skeletal mechanical structure, and the selection of exoskeleton degrees of freedom. According to the ergonomics theory, the exoskeleton scheme of lower limb was designed in detail, and the three-dimensional model of exoskeleton was established based on three-dimensional parameterized software CATIA. And through the normal gait and weight-bearing gait experiment, the related motion parameters are obtained. The parameters are fitted by MATLAB curve, and compared with the actual movement of human body. As the input signal of MATLAB and ADAMS simulation, the parameters such as torque needed for load-bearing walking are obtained, which lays the foundation for the selection of driving system and motion control. On the basis of the above research, the force of exoskeleton of lower limb is analyzed. Firstly, the working condition of exoskeleton and the load under different working conditions are analyzed. The finite element analysis and strength check of the key parts of the external skeleton are carried out. Through the analysis, the main factor limiting the lower extremity exoskeleton's load capacity is its driving system rather than the structural strength of the exoskeleton. The exoskeleton of lower extremity designed in this paper has reasonable structure, light weight and good processing feasibility. It lays the foundation for the exoskeleton production. At the same time, the walking aid system designed in this paper is a typical man-machine integration system with biped walking characteristics, which is controlled by extracting the normal human motion information. It also lays a foundation for the study of exoskeleton.
【學(xué)位授予單位】：天津科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類(lèi)號(hào)】：TH112

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