【摘要】：伴隨各種運(yùn)動(dòng)的產(chǎn)生,人類踝關(guān)節(jié)不斷承受各種各樣的沖擊,使得踝關(guān)節(jié)成為運(yùn)動(dòng)損傷中最易受傷的關(guān)節(jié)之一。而踝關(guān)節(jié)損傷或手術(shù)之后,如何使其盡快恢復(fù)其機(jī)能,無疑也是一個(gè)重要的課題。為實(shí)現(xiàn)踝關(guān)節(jié)輔助康復(fù),本課題設(shè)計(jì)了一種新型的、基于球銷副的仿生踝關(guān)節(jié)輔助康復(fù)裝置,該裝置具有兩個(gè)自由度,但能近似實(shí)現(xiàn)踝關(guān)節(jié)背屈/跖屈運(yùn)動(dòng)、內(nèi)翻/外翻運(yùn)動(dòng)以及它們的復(fù)合運(yùn)動(dòng),可根據(jù)患者的不同康復(fù)階段選擇不同的控制模式,不同的運(yùn)動(dòng)幅度和不同的運(yùn)動(dòng)頻率,對(duì)人體踝關(guān)節(jié)進(jìn)行康復(fù)治療。本文首先介紹了目前國(guó)內(nèi)外仿人踝關(guān)節(jié)機(jī)構(gòu)和踝關(guān)節(jié)康復(fù)機(jī)構(gòu)的研究概況。其次,根據(jù)人體踝關(guān)節(jié)的運(yùn)動(dòng)特點(diǎn),建立了踝關(guān)節(jié)的機(jī)構(gòu)學(xué)模型,再依據(jù)機(jī)構(gòu)學(xué)模型綜合出了一種實(shí)現(xiàn)背屈/跖屈運(yùn)動(dòng)、內(nèi)翻/外翻運(yùn)動(dòng)以及復(fù)合運(yùn)動(dòng)的,具有兩個(gè)主動(dòng)驅(qū)動(dòng)的,但能近似實(shí)現(xiàn)三維運(yùn)動(dòng)的踝關(guān)節(jié)輔助康復(fù)裝置機(jī)構(gòu)方案。在確定該裝置的機(jī)構(gòu)方案后,對(duì)裝置進(jìn)行了運(yùn)動(dòng)建模,即針對(duì)結(jié)構(gòu)采用的剛?cè)峤M合驅(qū)動(dòng)的模式,對(duì)剛?cè)峤M合驅(qū)動(dòng)與剛性驅(qū)動(dòng)模式分別進(jìn)行建模分析,給出了相關(guān)計(jì)算公式,并采用Matlab軟件進(jìn)行了計(jì)算。同時(shí),采用Recurdyn仿真軟件對(duì)該裝置進(jìn)行了仿真分析,并與Matlab理論計(jì)算的結(jié)果進(jìn)行了比較。在此基礎(chǔ)之上,對(duì)裝置的控制系統(tǒng)進(jìn)行了研究,分別研究了控制系統(tǒng)硬件與軟件;控制系統(tǒng)硬件設(shè)計(jì)主要包括電機(jī)的選取,控制器的選擇等;軟件設(shè)計(jì)主要包括電機(jī)控制模塊軟件結(jié)構(gòu),CAN總線通訊等;建立了人機(jī)友好交互界面。最后搭建了踝關(guān)節(jié)輔助康復(fù)裝置的實(shí)驗(yàn)平臺(tái),并完成了初步的實(shí)驗(yàn)。
[Abstract]:With the emergence of various kinds of sports, the human ankle has been subjected to a variety of shocks, making the ankle become one of the most vulnerable joints in sports injuries. How to restore the ankle joint function as soon as possible after the ankle injury or operation is undoubtedly an important issue. In order to achieve ankle joint rehabilitation, a new bionic ankle joint rehabilitation device based on ball pin pair was designed in this paper. The device has two degrees of freedom, but it can achieve the ankle dorsiflexion / metatarsal flexion approximately. Varus / valgus exercise and their combined exercise can be used to rehabilitate the ankle according to the different control mode, different movement amplitude and different movement frequency of the patients in different rehabilitation stages. This paper first introduces the research situation of humanoid ankle mechanism and ankle rehabilitation mechanism at home and abroad. Secondly, according to the motion characteristics of the human ankle joint, the mechanism model of the ankle joint is established, and according to the mechanism model, a kind of motion of dorsiflexion / metatarsal flexion, varus / valgus and compound motion is synthesized. There are two active drive, but can approximately realize three-dimensional motion of the ankle joint auxiliary rehabilitation device mechanism. After determining the mechanism scheme of the device, the motion model of the device is established, that is, the rigid-flexible combination drive and the rigid driving mode are modeled and analyzed respectively, and the relevant calculation formulas are given. The calculation is carried out by Matlab software. At the same time, the Recurdyn simulation software is used to simulate and analyze the device, and the results are compared with the results of Matlab theory. On this basis, the control system of the device is studied, the hardware and software of the control system are studied respectively, the hardware design of the control system mainly includes the selection of the motor, the selection of the controller, etc. The software design includes motor control module software structure and can bus communication, and establishes man-machine friendly interface. Finally, the experimental platform of ankle joint auxiliary rehabilitation device was built, and the preliminary experiment was completed.
【學(xué)位授予單位】：鄭州輕工業(yè)學(xué)院
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：R496;TP242

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