基于混合驅(qū)動的上肢康復機器人的設計
發(fā)布時間：2018-07-15 19:03
【摘要】：國內(nèi)外腦中風的發(fā)病率、致死率居高不下。隨著經(jīng)濟的發(fā)展,現(xiàn)代醫(yī)療水平得到很大的提高,腦中風的死亡率得以減小。腦中風患者幸存后一般都出現(xiàn)上肢偏癱、半身不遂等癥狀,這些病癥的康復治療費用成了患者家庭的沉重負擔。目前,為了改善腦中風患者康復治療的現(xiàn)狀,國內(nèi)外很多研究學者對上肢康復機器人進行研究。但是大部分康復機器人的驅(qū)動方式較為單一:一種是由電機、減速器通過齒輪之間的配合直接驅(qū)動各個關節(jié),這種驅(qū)動方式讓各個關節(jié)處的重量都相應的增加,使得各個關節(jié)驅(qū)動電機的負載增加。另一種是由電機與繩索配合驅(qū)動各個關節(jié),這種驅(qū)動方式雖然讓各個關節(jié)的重量減輕,但是相對于電機直接驅(qū)動,繩驅(qū)動的傳動精度相對較低,傳動不精確,不利于機器人的精確控制。本文提出了一種基于混合驅(qū)動的上肢康復機器人可以很好的解決這些問題。具體研究工作內(nèi)容如下:首先,對繩驅(qū)動關節(jié)進行設計。設計一種新的繩驅(qū)動關節(jié)來代替?zhèn)鹘y(tǒng)的電機直接驅(qū)動上肢康復機器人的腕關節(jié),減輕了末端執(zhí)行機構(gòu)的重量,減小了前端電機的負載;依據(jù)繩驅(qū)動關節(jié)的原理對繩驅(qū)動關節(jié)的動力源結(jié)構(gòu)、繩傳動結(jié)構(gòu)、驅(qū)動端結(jié)構(gòu)、鋼絲繩兩端的連接方式進行設計,并對鋼絲繩直接驅(qū)動圓盤槽輪方式從安裝結(jié)構(gòu)以及驅(qū)動原理上進行了驗證;在此基礎上對鋼絲繩的預緊機構(gòu)進行了分析,設計出了一種新型的鋼絲繩預緊裝置,解決了鋼絲繩在安裝完成后不能二次預緊的問題。其次,對繩驅(qū)動關節(jié)中的鋼絲繩傳動系統(tǒng)進行分析。通過對鋼絲繩傳動中彈性滑動現(xiàn)象產(chǎn)生的原因加以分析,找出改善彈性滑動現(xiàn)象的方法;通過對比帶傳動中的各種理論對鋼絲繩傳動進行受力進行分析,得出鋼絲繩所受拉力的大小;鋼絲繩在傳動過程中不可避免的會受到摩擦力的影響,運用摩擦力補償法對鋼絲繩與繩外軟管之間的摩擦因數(shù)進行試驗研究分析,得出了鋼絲繩所受摩擦力與負載之間的關系;依據(jù)鋼絲繩的拉力以及摩擦力的大小對鋼絲繩進行選型,確定鋼絲繩的型號;應用ADAMS對繩驅(qū)動關節(jié)中的鋼絲繩進行仿真分析,驗證了理論分析的正確性,為混合驅(qū)動上肢康復機器人的研究奠定了理論基礎。第三,對基于混合驅(qū)動的上肢康復機器人進行結(jié)構(gòu)設計。通過對腦中風導致的運動功能障礙分析,得出腦中風患者的上肢對應的康復訓練,為機器人的結(jié)構(gòu)設計提供康復理論基礎;通過人體上肢解剖學對上肢肩關節(jié)、肘關節(jié)和腕關節(jié)的結(jié)構(gòu)以及活動空間進行分析,確定各個關節(jié)的活動范圍,為機器人的設計提供運動理論基礎;在此基礎上對機器人的各個關節(jié)進行設計,并使用Pro/E完成整機的設計。第四,對基于混合驅(qū)動的上肢康復機器人進行動力學分析。應用拉格朗日力學法對機器人系統(tǒng)進行動力學分析,得出了各個參數(shù)的求解方法;應用MATLAB繪制勻速狀態(tài)下機器人的各個關節(jié)理論力矩曲線,應用ADAMS仿真出在同樣條件下機器人的各個關節(jié)仿真力矩曲線,將兩種力矩曲線進行對比,驗證了理論分析的正確性;利用ADAMS進行勻加速狀態(tài)下的仿真分析,得到了驅(qū)動力矩;在此基礎上,確定電機、電機適配驅(qū)動器等部件。最后,對基于混合驅(qū)動的上肢康復機器人進行試驗探究。將設計的機器人進行加工組裝;對混合驅(qū)動繩驅(qū)動關節(jié)部分進行試驗,驗證了鋼絲繩傳動中的設計與選型的正確性;對整機進行動力學試驗,驗證了仿真力矩分析的正確性。
[Abstract]:The incidence and death rate of cerebral apoplexy at home and abroad are high. With the development of the economy, the level of modern medical treatment has been greatly improved, the death rate of stroke is reduced. After the survival of stroke patients, the symptoms of hemiplegia and hemiplegic, such as the survival of the patients, have become a heavy burden on the family. In order to improve the status of rehabilitation therapy for stroke patients, many researchers at home and abroad have studied the upper limb rehabilitative robot. But most of the rehabilitation robots have a single driving mode: one is the motor, the reducer drives the joints directly through the coordination between the gears, which makes the weight of each joint at the joint. The corresponding increase makes the load of each joint drive motor increase. The other is driven by the motor and the rope to drive each joint. This driving method reduces the weight of each joint, but relative to the direct drive of the motor, the transmission precision of the rope drive is relatively low, the transmission is inaccurate and it is not conducive to the precise control of the robot. A hybrid driven rehabilitation robot based on the upper limb can be used to solve these problems well. The specific research work is as follows: first, the design of the rope drive joint is designed. A new rope driven joint is designed to replace the traditional motor directly to drive the wrist of the upper limb rehabilitation robot and reduce the weight of the end actuator. The load of the front motor is reduced, the power source structure of the rope driving joint, the rope drive structure, the driving end structure, the connection mode of the two ends of the wire rope are designed according to the principle of the rope driving joint, and the way of the wire rope direct drive disc groove wheel is verified from the installation structure and the driving principle. On this basis, the wire rope is used. The pretightening mechanism is analyzed, and a new type of wire rope pretightening device is designed to solve the problem that the wire rope can not be pretensiated two times after the installation is completed. Secondly, the wire rope transmission system in the rope driving joint is analyzed. The cause of the elastic sliding phenomenon in the wire rope transmission is analyzed, and the improvement projectile is found out. The force of the wire rope transmission is analyzed by comparing various theories in the belt transmission, and the tension of the wire rope is obtained. The friction force will inevitably be affected by the wire rope in the transmission process, and the friction coefficient between the wire rope and the hose outside the rope is tested by the friction compensation method. The relationship between the friction force and the load of the wire rope is obtained, and the type of the wire rope is selected according to the tension of the wire rope and the size of the friction force, and the model of the wire rope is determined. The simulation analysis of the wire rope in the rope driving joint is carried out with ADAMS to verify the correctness of the theory analysis and to drive the rehabilitation machine for the upper limb of the hybrid. The human research laid the theoretical foundation. Third, the structure design of the upper limb rehabilitation robot based on the hybrid drive. Through the analysis of the movement dysfunction caused by cerebral apoplexy, the rehabilitation training of the upper limb of the stroke patients is obtained, which provides the rehabilitation theory for the structure design of the robot, and the upper limb anatomy is used to the upper limb through the anatomy of the body upper limb. The structure of shoulder joint, elbow joint and wrist joint and active space are analyzed, the range of movement of each joint is determined, and the theoretical basis of motion is provided for the design of robot. On this basis, each joint of the robot is designed and the design of the whole machine is completed using Pro/E. Fourth, into the hybrid driven rehabilitation robot of the upper limb. The dynamic analysis of action mechanics is applied to the dynamic analysis of the robot system by using the Lagrange mechanics method. The solving method of each parameter is obtained. MATLAB is used to draw the theoretical moment curve of each joint of the robot under uniform speed, and the simulation moment curve of each joint of the robot under the same condition is simulated with ADAMS, and two kinds of torque curve are made. The line is compared to verify the correctness of the theoretical analysis; the driving torque is obtained by the simulation analysis of the uniform acceleration state using ADAMS. On this basis, the motor and the motor fit driver are determined. Finally, the experimental investigation on the hybrid driven rehabilitation robot of the upper limb is carried out. The designed robot is processed and assembled; The joint part of the hybrid drive rope is tested to verify the correctness of the design and selection of the wire rope transmission, and the dynamic test of the whole machine proves the correctness of the simulation moment analysis.
【學位授予單位】：江蘇大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242
[Abstract]:The incidence and death rate of cerebral apoplexy at home and abroad are high. With the development of the economy, the level of modern medical treatment has been greatly improved, the death rate of stroke is reduced. After the survival of stroke patients, the symptoms of hemiplegia and hemiplegic, such as the survival of the patients, have become a heavy burden on the family. In order to improve the status of rehabilitation therapy for stroke patients, many researchers at home and abroad have studied the upper limb rehabilitative robot. But most of the rehabilitation robots have a single driving mode: one is the motor, the reducer drives the joints directly through the coordination between the gears, which makes the weight of each joint at the joint. The corresponding increase makes the load of each joint drive motor increase. The other is driven by the motor and the rope to drive each joint. This driving method reduces the weight of each joint, but relative to the direct drive of the motor, the transmission precision of the rope drive is relatively low, the transmission is inaccurate and it is not conducive to the precise control of the robot. A hybrid driven rehabilitation robot based on the upper limb can be used to solve these problems well. The specific research work is as follows: first, the design of the rope drive joint is designed. A new rope driven joint is designed to replace the traditional motor directly to drive the wrist of the upper limb rehabilitation robot and reduce the weight of the end actuator. The load of the front motor is reduced, the power source structure of the rope driving joint, the rope drive structure, the driving end structure, the connection mode of the two ends of the wire rope are designed according to the principle of the rope driving joint, and the way of the wire rope direct drive disc groove wheel is verified from the installation structure and the driving principle. On this basis, the wire rope is used. The pretightening mechanism is analyzed, and a new type of wire rope pretightening device is designed to solve the problem that the wire rope can not be pretensiated two times after the installation is completed. Secondly, the wire rope transmission system in the rope driving joint is analyzed. The cause of the elastic sliding phenomenon in the wire rope transmission is analyzed, and the improvement projectile is found out. The force of the wire rope transmission is analyzed by comparing various theories in the belt transmission, and the tension of the wire rope is obtained. The friction force will inevitably be affected by the wire rope in the transmission process, and the friction coefficient between the wire rope and the hose outside the rope is tested by the friction compensation method. The relationship between the friction force and the load of the wire rope is obtained, and the type of the wire rope is selected according to the tension of the wire rope and the size of the friction force, and the model of the wire rope is determined. The simulation analysis of the wire rope in the rope driving joint is carried out with ADAMS to verify the correctness of the theory analysis and to drive the rehabilitation machine for the upper limb of the hybrid. The human research laid the theoretical foundation. Third, the structure design of the upper limb rehabilitation robot based on the hybrid drive. Through the analysis of the movement dysfunction caused by cerebral apoplexy, the rehabilitation training of the upper limb of the stroke patients is obtained, which provides the rehabilitation theory for the structure design of the robot, and the upper limb anatomy is used to the upper limb through the anatomy of the body upper limb. The structure of shoulder joint, elbow joint and wrist joint and active space are analyzed, the range of movement of each joint is determined, and the theoretical basis of motion is provided for the design of robot. On this basis, each joint of the robot is designed and the design of the whole machine is completed using Pro/E. Fourth, into the hybrid driven rehabilitation robot of the upper limb. The dynamic analysis of action mechanics is applied to the dynamic analysis of the robot system by using the Lagrange mechanics method. The solving method of each parameter is obtained. MATLAB is used to draw the theoretical moment curve of each joint of the robot under uniform speed, and the simulation moment curve of each joint of the robot under the same condition is simulated with ADAMS, and two kinds of torque curve are made. The line is compared to verify the correctness of the theoretical analysis; the driving torque is obtained by the simulation analysis of the uniform acceleration state using ADAMS. On this basis, the motor and the motor fit driver are determined. Finally, the experimental investigation on the hybrid driven rehabilitation robot of the upper limb is carried out. The designed robot is processed and assembled; The joint part of the hybrid drive rope is tested to verify the correctness of the design and selection of the wire rope transmission, and the dynamic test of the whole machine proves the correctness of the simulation moment analysis.
【學位授予單位】：江蘇大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242
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