本文選題：假肢手指機構(gòu) + 運動鏈拓撲圖�。� 參考：《中南大學(xué)》2014年碩士論文

【摘要】：以機構(gòu)學(xué)作為理論基礎(chǔ),結(jié)合運動鏈拓撲圖在機構(gòu)構(gòu)型方面的應(yīng)用,本文對耦合型欠驅(qū)動假肢手指機構(gòu)進行結(jié)構(gòu)類型綜合,對比各類型手指機構(gòu)從而選擇一種機構(gòu)作為研究對象,并對由此類手指構(gòu)成的假肢進行多指抓取操作的運動學(xué)分析。 首先,在分析單開鏈疊加法基本性質(zhì)的基礎(chǔ)上,提出采用雙色拓撲圖描述含復(fù)合鉸鏈的機構(gòu),并通過改進單開鏈疊加法的約束條件,得到適用于含復(fù)鉸運動鏈的結(jié)構(gòu)類型綜合的方法。利用上述方法,分別對二自由度及三自由度的三指節(jié)手指機構(gòu)進行構(gòu)型。 其次,為了使得最終確定的假肢手指機構(gòu)能夠更好的實現(xiàn)與人手相似的抓取方式,制定手指機構(gòu)的對比標(biāo)準(zhǔn)。基于上述標(biāo)準(zhǔn),在ADAMS中對前文得到的手指機構(gòu)進行抓握運動仿真并對比結(jié)果,最終選出一種遠指節(jié)接觸力較大的三自由度三指節(jié)手指機構(gòu)。 再次,利用運動鏈拓撲圖對多指抓取模型進行描述,以表示多指操作運動學(xué)各研究對象之間的關(guān)系。對于由三自由度手指構(gòu)成的假肢,以單個手指的運動學(xué)分析為基礎(chǔ),在抓取對象質(zhì)心運動軌跡已知的條件下,利用多指操作運動學(xué)的分析方法對多指抓取下各手指的運動規(guī)律進行分析。 最后,利用現(xiàn)有的假肢手指實驗平臺進行實驗,從而驗證三自由度手指機構(gòu)可以實現(xiàn)與人手相似的抓取動作。同時,測量自然運動過程中手指各指節(jié)的轉(zhuǎn)動角度,從而得出指尖的運動軌跡,將其與運動學(xué)分析的結(jié)果進行對比,進一步驗證理論計算的正確性。
[Abstract]:Based on the theory of mechanism and the application of kinematic chain topology in mechanism configuration, this paper synthesizes the structure types of coupling under-actuated prosthetic finger mechanism. By comparing each type of finger mechanism and selecting one kind of mechanism as the object of study, the kinematic analysis of multi-finger grasping operation is carried out on the prosthetic limb composed of this kind of finger. Firstly, on the basis of analyzing the basic properties of single open chain superposition method, a two-color topological graph is proposed to describe the mechanism with compound hinge, and the constraint condition of single open chain superposition method is improved. A method of structural type synthesis for kinematic chains with complex hinges is obtained. The two-degree of freedom and three-degree of freedom three-knuckle finger mechanism are constructed by using the above method. Secondly, in order to make the final determination of the prosthetic finger mechanism can better achieve the grasp similar to the hands, the comparative standard of finger mechanism is established. Based on the above standard, the grasping motion of the finger mechanism obtained in Adams is simulated and compared. Finally, a three-degree-of-freedom three-knuckle finger mechanism with higher contact force is selected. Thirdly, the multi-fingered grab model is described by using the kinematic chain topology graph to represent the relationship between the objects of multi-fingered operation kinematics. For the prosthetic limb composed of three degrees of freedom fingers, based on the kinematics analysis of a single finger, under the condition that the track of the object's centroid motion is known, The kinematics method of multi-finger manipulation is used to analyze the motion of each finger under multi-finger grasp. Finally, using the existing artificial finger experiment platform, it is verified that the three-degree-of-freedom finger mechanism can realize the grasp movement similar to that of the human hand. At the same time, the rotation angle of finger joints during natural motion is measured, and the movement track of finger tip is obtained. The results are compared with the results of kinematics analysis, and the correctness of theoretical calculation is further verified.
【學(xué)位授予單位】：中南大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TP241;TH112

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