【摘要】：踝關(guān)節(jié)假肢是幫助膝下截肢患者恢復(fù)踝關(guān)節(jié)運動的一種替代型工具。隨著經(jīng)濟的發(fā)展和人民生活水平的提高,截肢患者已不再滿足傳統(tǒng)踝關(guān)節(jié)假肢的基本行走功能。在當今假肢設(shè)計領(lǐng)域里,能夠設(shè)計出實現(xiàn)行走更加貼近正常人的步態(tài)軌跡且更加舒適的假肢成為截肢患者的迫切需要。本文根據(jù)正常人體踝關(guān)節(jié)平地行走的各步態(tài)相位的特點,旨在設(shè)計出能夠幫助殘疾人恢復(fù)行走能力,像正常人一樣生活、學(xué)習(xí)和工作的踝關(guān)節(jié)假肢,具有很重要的社會意義和學(xué)術(shù)價值。本文主要針對下幾點展開研究:(1)人體踝關(guān)節(jié)生物力學(xué)特性研究。具體闡述了人體踝關(guān)節(jié)在平地行走的各步態(tài)相位特征,對踝關(guān)節(jié)各參數(shù)數(shù)據(jù)曲線進行了運動學(xué)分析和生物力學(xué)分析,得到了踝關(guān)節(jié)平地行走的基本特征、生物力學(xué)特性以及人體正常行走的踝關(guān)節(jié)扭矩特性曲線,具體分析了一個步態(tài)周期各相位階段踝關(guān)節(jié)扭矩和角度之間的關(guān)系,為主被動假腳-踝關(guān)節(jié)系統(tǒng)的結(jié)構(gòu)設(shè)計以及動力學(xué)仿真提供了依據(jù)。(2)假腳-踝關(guān)節(jié)系統(tǒng)的設(shè)計。根據(jù)正常人體平地上行走的扭矩特性曲線,提出了假腳-踝關(guān)節(jié)系統(tǒng)設(shè)計思想以及總體構(gòu)型,對其中部分關(guān)鍵機構(gòu)進行了數(shù)學(xué)建模和計算分析,并且對關(guān)鍵零件參數(shù)進行了計算驗證,完成了一體化假腳-踝關(guān)節(jié)系統(tǒng)的結(jié)構(gòu)設(shè)計,說明了一個步態(tài)周期中一體化假腳-踝關(guān)節(jié)系統(tǒng)基本工作原理,分析了各相位步態(tài)中的能量儲存和釋放過程,驗證了前面提出的假腳-踝關(guān)節(jié)系統(tǒng)總體構(gòu)型的設(shè)計思想。(3)假腳-踝關(guān)節(jié)系統(tǒng)的動力學(xué)仿真與優(yōu)化。建立了假腳-踝關(guān)節(jié)系統(tǒng)的仿真模型,并運用ADAMS仿真軟件進行了動力學(xué)分析和參數(shù)優(yōu)化,得到了最佳的彈簧和扭簧剛度,彈簧兩端位置以及電機扭簧聯(lián)合驅(qū)動力矩等參數(shù),根據(jù)能量分析結(jié)果對比,說明了假腳具有與人體踝關(guān)節(jié)相近的力學(xué)特性,而且還能實現(xiàn)能量的回收利用,能耗低,同時也驗證了建模以及分析方法的正確性。最后,完成了控制系統(tǒng)軟件編寫和硬件搭建,制定了實驗方案,通過機器人夾持假肢行走得到了實際踝關(guān)節(jié)角度曲線,對實驗測得的假腳的踝關(guān)節(jié)角度曲線和理論的角度曲線進行對比分析。實驗研究表明,使用的仿真方法是正確的,所設(shè)計的主被動混合驅(qū)動的假腳-踝關(guān)節(jié)系統(tǒng)是可行的。
[Abstract]:Ankle prosthesis is an alternative tool to help patients with subgenu amputation recover ankle motion. With the development of economy and the improvement of people's living standard, amputation patients no longer meet the basic walking function of traditional ankle prosthesis. In the field of prosthetic design nowadays, it is an urgent need for amputees to be able to design prostheses that can walk closer to the gait trajectory of normal people and more comfortable. According to the characteristics of the gait phases of the normal human ankle, the purpose of this paper is to design an ankle prosthesis which can help the disabled to recover the walking ability and live, study and work like the normal people. Has very important social significance and academic value. This paper mainly focuses on the following points: (1) biomechanical characteristics of human ankle. In this paper, the gait phase characteristics of human ankle walking in flat ground are expounded in detail. The kinematics and biomechanical analysis of the ankle parameters data curve are carried out, and the basic characteristics of ankle walking are obtained. The relationship between ankle torque and angle in every phase of a gait cycle is analyzed. The structural design and dynamic simulation of the main passive foot-ankle joint system are provided. (2) the design of the artificial foot-ankle joint system. According to the torque characteristic curve of normal human body walking on the flat ground, the design idea and the overall configuration of the artificial foot-ankle joint system are put forward, and some of the key mechanisms are modeled and calculated. The parameters of the key parts are calculated and verified, and the structural design of the integrated false-ankle joint system is completed, and the basic working principle of the integrated false-ankle joint system in a gait cycle is explained. The energy storage and release process in each phase gait is analyzed, and the design idea of the overall configuration of the artificial foot-ankle joint system is verified. (3) the dynamic simulation and optimization of the artificial foot-ankle joint system. The simulation model of the artificial foot-ankle joint system is established, and the dynamic analysis and parameter optimization are carried out by using Adams simulation software. The optimum spring and torsion spring stiffness, the position of the two ends of the spring and the combined torque of the motor torsion spring are obtained. According to the comparison of the results of energy analysis, it is proved that the prosthetic foot has the same mechanical properties as the human ankle joint, and it can also realize the recovery and utilization of energy, and the energy consumption is low. At the same time, the correctness of the modeling and analysis method is verified. Finally, the software and hardware of the control system are completed, and the experimental scheme is established. The actual ankle angle curve is obtained by the robot walking with the prosthesis. The angle curve of ankle joint measured by experiment is compared with that of theory. The experimental results show that the simulation method is correct and the active and passive hybrid drive system is feasible.
【學(xué)位授予單位】：蘇州大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：R496

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相關(guān)期刊論文 前1條

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本文編號：2136802