本文關(guān)鍵詞：人體足踝步態(tài)模擬機(jī)的運(yùn)動和動力特性研究　出處：《上海交通大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 步態(tài)模擬機(jī) 運(yùn)動學(xué) 動力學(xué) 試驗臺

【摘要】：人們對足踝在各種運(yùn)動中的運(yùn)動學(xué)特性，足部與地面接觸時踝關(guān)節(jié)的各種受力環(huán)境不太了解，對踝關(guān)節(jié)以及步態(tài)的研究是現(xiàn)今亟需解決的課題。 首先，設(shè)計了一種人體足踝步態(tài)模擬機(jī)，其可以分析足踝和脛骨軸的運(yùn)動學(xué)，，同時還可以研究步態(tài)中著地相的力學(xué)特性。本文還對足部的骨骼進(jìn)行了較為細(xì)致的建模，為以后分析足部某些骨塊、足踝位置的運(yùn)動特性研究提供了方便。建立人體足踝步態(tài)模擬機(jī)系統(tǒng)和連桿坐標(biāo)系，通過一系列連桿傳遞到機(jī)構(gòu)末端的執(zhí)行器（足部），由執(zhí)行器完成設(shè)計者的運(yùn)動學(xué)、動力學(xué)目的。 其次，建立機(jī)械系統(tǒng)的動力學(xué)模型，對足部模型進(jìn)行改進(jìn)，添加肌腱彈簧阻尼機(jī)構(gòu)，足底軟組織囊。在Adams虛擬樣機(jī)動力學(xué)軟件中對其步態(tài)著地相進(jìn)行仿真，驗證了三個方向的足底反力。 最后，對步態(tài)模擬機(jī)進(jìn)行試驗臺的搭建，調(diào)試和運(yùn)行，采集運(yùn)動學(xué)、足底動力學(xué)等數(shù)據(jù)并比對。控制方法上采用閉環(huán)PID控制方法，對主要驅(qū)動器的輸入曲線進(jìn)行迭代學(xué)習(xí)，使機(jī)構(gòu)輸出的足底反力滿足實際步態(tài)中足底反力的目標(biāo)曲線。 據(jù)此，我們驗證了本文設(shè)計的足踝步態(tài)模擬機(jī)能夠很好地對足踝運(yùn)動學(xué)軌跡進(jìn)行擬合；在Adams虛擬樣機(jī)仿真軟件中建立的動力學(xué)模型能夠驗證著地相三個方向的足底反力；搭建的步態(tài)模擬試驗臺也能夠很好地驗證人體步態(tài)著地相進(jìn)程中的足底力學(xué)性質(zhì)。本論文是由國家自然科學(xué)基金贊助，編號為81071237。
[Abstract]:People do not know much about the kinematics characteristics of ankles in various movements and the mechanical environment of ankle joints when they are in contact with the ground. The research on ankle joints and gait is a subject that needs to be solved now. Firstly, a human ankle gait simulator is designed, which can analyze the kinematics of ankle and tibia axis. At the same time, the mechanical properties of landing phase in gait can be studied. It is convenient to study the motion characteristics of ankle position. A human ankle gait simulator system and a coordinate system are established, which are passed to the end of the mechanism (foot) through a series of connecting rods. The designer's kinematics and dynamics are accomplished by the actuator. Secondly, the dynamic model of the mechanical system is established, the foot model is improved, and the tendon spring damping mechanism is added. The plantar soft tissue sac was simulated in the Adams virtual prototyping dynamic software to verify the three directions of plantar reaction. Finally, the gait simulator is built, debugged and run, and the kinematics, plantar dynamics and other data are collected and compared. The closed-loop PID control method is used in the control method. The input curve of the main driver is studied iteratively to make the plantar reaction output of the mechanism meet the target curve of the plantar reaction in the actual gait. Based on this, we verify that the ankle gait simulator designed in this paper can fit the ankle kinematics trajectory well. The dynamic model established in the Adams virtual prototyping simulation software can verify the foot reaction force in three directions of the earth phase. This paper is sponsored by the National Natural Science Foundation of China, which is sponsored by the National Natural Science Foundation of China, and can also verify the mechanical properties of the plantar in the process of human gait landing. The number of this paper is 810712377.This paper is sponsored by the National Natural Science Foundation of China.
【學(xué)位授予單位】：上海交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TH113

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