發(fā)布時間：2018-12-14 12:26

【摘要】：當(dāng)前,隨著人們工作壓力不斷增大,以及生活中的不健康習(xí)慣增多,人體心臟驟停的幾率增大,這時就需要對病人進(jìn)行有效的心肺復(fù)蘇急救。在這個過程中對按壓的頻率和幅度都有嚴(yán)格的要求,但是往往醫(yī)生在心肺復(fù)蘇過程中會體力透支,影響搶救的效果。本文針對這個難題設(shè)計(jì)了一種可以幫助醫(yī)生增加力量的上肢外骨骼助力機(jī)器人,通過電機(jī)驅(qū)動系統(tǒng)來帶動各個關(guān)節(jié)協(xié)調(diào)運(yùn)動,將力傳遞到醫(yī)生的手掌,接觸病人進(jìn)行搶救。這樣既能夠使醫(yī)生更好的感知病人的實(shí)時情況,而且又能保持心肺復(fù)蘇全程擁有足夠的力量,實(shí)現(xiàn)最有效的搶救效果。而且此機(jī)構(gòu)未來還可以用于協(xié)助殘疾人完成上肢多個關(guān)節(jié)的康復(fù)訓(xùn)練。本文的主要研究內(nèi)容如下:1.本文根據(jù)人體上肢各關(guān)節(jié)的運(yùn)動特點(diǎn),設(shè)計(jì)了心肺復(fù)蘇外骨骼助力機(jī)器人結(jié)構(gòu)方案,對驅(qū)動電機(jī)以及減速器進(jìn)行了選型,并通過對關(guān)鍵結(jié)構(gòu)進(jìn)行應(yīng)力分析,對該結(jié)構(gòu)安全性進(jìn)行了校核。2.建立了上肢助力機(jī)器人運(yùn)動學(xué)模型,研究了運(yùn)動學(xué)正、逆解。通過Matlab得出其工作空間,并利用Adams對外骨骼心肺復(fù)蘇過程進(jìn)行運(yùn)動仿真分析。求出了外骨骼的雅克比矩陣,得到外骨骼機(jī)器人末端執(zhí)行器實(shí)時的線速度與角速度。3.運(yùn)用拉格朗日方程法建立動力學(xué)模型,運(yùn)用Adams對外骨骼進(jìn)行動力學(xué)仿真分析,得到各關(guān)節(jié)的力矩變化,為外骨骼控制提供更好的理論參考。4.針對所設(shè)計(jì)的上肢外骨骼助力機(jī)器人,分別利用傳統(tǒng)PID控制和模糊自適應(yīng)PID控制器進(jìn)行分析,并在Matlab的Simulink模塊中進(jìn)行控制模型搭建與仿真,驗(yàn)證模糊PID控制器的性能。利用ADAMS和MATLAB針對外骨骼進(jìn)行聯(lián)合控制仿真,實(shí)現(xiàn)所設(shè)計(jì)的功能要求。通過實(shí)驗(yàn)研究了按壓過程中各參數(shù)的變化,設(shè)計(jì)了幅度和頻率調(diào)節(jié)控制策略,通過仿真和實(shí)驗(yàn)對比驗(yàn)證了其實(shí)用性。
[Abstract]:At present, with the increasing of people's work pressure and unhealthy habits in life, the probability of cardiac arrest increases, so it is necessary to carry on the effective CPR first aid to the patients. In this process, there are strict requirements for the frequency and amplitude of compression, but doctors often overdraft physical strength in the process of cardiopulmonary resuscitation, which affects the effect of rescue. In this paper, we design an exoskeleton robot which can help doctors to increase their strength. The robot can drive the coordinated motion of every joint through the motor drive system, transfer the force to the doctor's palm and contact the patient for rescue. This not only enables doctors to better perceive the patient's real-time situation, but also can maintain the whole process of cardiopulmonary resuscitation with sufficient strength to achieve the most effective rescue effect. And it could be used to help disabled people with multiple joints in their upper limbs. The main contents of this paper are as follows: 1. According to the motion characteristics of each joint of human upper limb, the structural scheme of exoskeleton booster robot for cardiopulmonary resuscitation (CPR) is designed in this paper. The driving motor and reducer are selected, and the stress analysis of the key structures is carried out. The safety of the structure was checked. 2. 2. The kinematics model of upper limb booster robot is established, and the forward and inverse kinematics solutions are studied. The workspace of exoskeleton cardiopulmonary resuscitation was obtained by Matlab, and the motion simulation of exoskeleton cardiopulmonary resuscitation was carried out by Adams. The Jacobian matrix of exoskeleton is obtained and the real time linear and angular velocities of exoskeleton robot end actuators are obtained. The dynamic model is established by Lagrange equation method, and the dynamics of exoskeleton is simulated by Adams. The torque changes of each joint are obtained, which provides a better theoretical reference for exoskeleton control. 4. The traditional PID control and fuzzy adaptive PID controller are used to analyze the designed exoskeleton robot. The control model is built and simulated in the Simulink module of Matlab to verify the performance of the fuzzy PID controller. ADAMS and MATLAB are used to simulate the exoskeleton. The variation of the parameters in the pressing process is studied experimentally, and the amplitude and frequency regulation control strategies are designed. The practicability is verified by simulation and experimental comparison.
【學(xué)位授予單位】：沈陽航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 王文文;;心肺復(fù)蘇質(zhì)量的影響指標(biāo)分析[J];全科護(hù)理;2016年32期

2 趙新華;王璞;陳曉紅;;投球機(jī)器人模糊PID控制[J];智能系統(tǒng)學(xué)報(bào);2015年03期

3 倪自強(qiáng);王田苗;劉達(dá);;醫(yī)療機(jī)器人技術(shù)發(fā)展綜述[J];機(jī)械工程學(xué)報(bào);2015年13期

4 柴虎;侍才洪;王賀燕;張坤亮;楊康健;趙潤洲;張西正;;外骨骼機(jī)器人的研究發(fā)展[J];醫(yī)療衛(wèi)生裝備;2013年04期

5 張小川;魏建新;郭魯;吳杰;;基于遺傳算法的足球機(jī)器人模糊PID優(yōu)化控制策略[J];重慶理工大學(xué)學(xué)報(bào)(自然科學(xué));2012年04期

6 黃俊年;王立;;淺析PID控制原理及應(yīng)用[J];硅谷;2010年12期

7 李慶玲;;A novel 5-DOF exoskeletal rehabilitation robot system for upper limbs[J];High Technology Letters;2009年03期

8 蔡兆云;肖湘江;;外骨骼機(jī)器人技術(shù)研究綜述[J];國防科技;2007年12期

9 王東巖;李慶玲;杜志江;孫立寧;;外骨骼式上肢康復(fù)機(jī)器人及其控制方法研究[J];哈爾濱工程大學(xué)學(xué)報(bào);2007年09期

10 ;Exoskeleton arm with force feedback for robot bilateral teleoperation[J];Progress in Natural Science;2007年08期

，

本文編號：2378612