【摘要】：手腕運(yùn)動康復(fù)訓(xùn)練是手腕康復(fù)的一種重要手段。傳統(tǒng)康復(fù)訓(xùn)練器械大多采用電機(jī)驅(qū)動,運(yùn)動中系統(tǒng)會產(chǎn)生急劇變化的沖擊力,嚴(yán)重時對患者關(guān)節(jié)造成二次傷害。近年來氣動柔性驅(qū)動器的迅速發(fā)展逐漸引起人們的重視,這種新型的驅(qū)動器不僅能夠提供足夠的輸出力,更能大幅提高康復(fù)裝置的安全性與柔順性。本文通過研制一種基于氣動柔性驅(qū)動器的可穿戴式手腕康復(fù)裝置,為患者提供安全有效的手腕運(yùn)動康復(fù)訓(xùn)練。首先分析了氣動柔性驅(qū)動器的作用機(jī)理,并以此為基礎(chǔ)建立了驅(qū)動器的有限元模型,對其進(jìn)行運(yùn)動分析及力學(xué)分析。根據(jù)驅(qū)動器的作用機(jī)理設(shè)計(jì)了幾種橫截面設(shè)計(jì)方案,并結(jié)合仿真分析選擇力學(xué)特性最突出的設(shè)計(jì)方案。對方案中的主要參數(shù)進(jìn)行了對比分析,得到各個參數(shù)對驅(qū)動器運(yùn)動特性與力學(xué)特性的影響。最后根據(jù)參數(shù)分析的結(jié)果并結(jié)合實(shí)際情況對驅(qū)動器的初定參數(shù)設(shè)計(jì)進(jìn)行改進(jìn),得到驅(qū)動器的最終設(shè)計(jì)方案。其次由驅(qū)動器的最終方案設(shè)計(jì)了驅(qū)動器的模具,使用硅橡膠材料制作驅(qū)動器的實(shí)物。對制作的驅(qū)動器做運(yùn)動特性與力學(xué)特性的相關(guān)測試實(shí)驗(yàn),最后把得到的實(shí)驗(yàn)數(shù)據(jù)與仿真數(shù)據(jù)進(jìn)行了對比分析。在驅(qū)動器的基礎(chǔ)上制作了可穿戴性氣動手腕康復(fù)裝置,并進(jìn)行手腕康復(fù)裝置的基本動作控制。實(shí)驗(yàn)結(jié)果表明通過合理的控制策略能很好地完成康復(fù)訓(xùn)練。最后對手腕康復(fù)裝置的輸出力矩等性能進(jìn)行測試,驗(yàn)證手腕康復(fù)裝置的可行性。
文內(nèi)圖片：
圖片說明：圖１．３邋３ＲＰＳ－Ｒ手腕康復(fù)機(jī)器人逡逑當(dāng)今康復(fù)機(jī)器人的研究重點(diǎn)主要是結(jié)構(gòu)的設(shè)計(jì)與控制算法分析，，結(jié)構(gòu)設(shè)計(jì)的方案往逡逑
[Abstract]:Wrist sports rehabilitation training is an important means of wrist rehabilitation. Most of the traditional rehabilitation training instruments are driven by motor, and the system will produce a sharp change of impact force in exercise, which will cause secondary injury to the joints of patients in serious cases. In recent years, the rapid development of pneumatic flexible actuators has attracted more and more attention. this new type of actuator can not only provide enough output force, but also greatly improve the safety and compliance of rehabilitation devices. In this paper, a wearable wrist rehabilitation device based on pneumatic flexible driver is developed to provide safe and effective wrist exercise rehabilitation training for patients. Firstly, the action mechanism of pneumatic flexible actuator is analyzed, and the finite element model of pneumatic flexible actuator is established, and its motion analysis and mechanical analysis are carried out. According to the action mechanism of the driver, several cross section design schemes are designed, and the most prominent mechanical properties are selected according to the simulation analysis. The main parameters of the scheme are compared and analyzed, and the effects of each parameter on the motion and mechanical properties of the driver are obtained. Finally, according to the results of parameter analysis and the actual situation, the initial parameter design of the driver is improved, and the final design scheme of the driver is obtained. Secondly, the mold of the driver is designed by the final scheme of the driver, and the physical object of the driver is made of silicone rubber material. The motion and mechanical properties of the driver are tested. Finally, the experimental data and simulation data are compared and analyzed. On the basis of the driver, the wearable pneumatic wrist rehabilitation device is made, and the basic action control of the wrist rehabilitation device is carried out. The experimental results show that the rehabilitation training can be completed well by reasonable control strategy. Finally, the output torque of wrist rehabilitation device is tested to verify the feasibility of wrist rehabilitation device.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：R496

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