本文關(guān)鍵詞：一種新型踝關(guān)節(jié)康復(fù)訓(xùn)練機(jī)器人機(jī)構(gòu)的研究　出處：《中北大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 康復(fù)訓(xùn)練機(jī)器人 踝關(guān)節(jié) 3-SPS/S并聯(lián)機(jī)構(gòu) 運(yùn)動學(xué)仿真 工作空間

【摘要】：本文將少自由度并聯(lián)機(jī)構(gòu)應(yīng)用于踝關(guān)節(jié)康復(fù)訓(xùn)練機(jī)器人,通過介紹人體踝關(guān)節(jié)醫(yī)學(xué)結(jié)構(gòu)和目前常見的少自由度并聯(lián)機(jī)構(gòu),綜合設(shè)計(jì)出一款基于3-SPS/S并聯(lián)機(jī)構(gòu)的人體踝關(guān)節(jié)康復(fù)訓(xùn)練機(jī)器人,并對該康復(fù)訓(xùn)練機(jī)器人機(jī)構(gòu)進(jìn)行了運(yùn)動學(xué)、動力學(xué)、工作空間分析及運(yùn)動仿真。首先,本文對現(xiàn)如今出現(xiàn)的多種踝關(guān)節(jié)損傷情況進(jìn)行了闡述,踝關(guān)節(jié)損傷多發(fā)生于運(yùn)動員、老齡化人群以及生活中的意外傷害;列舉出目前國內(nèi)外已應(yīng)用的多種踝關(guān)節(jié)康復(fù)器械以及最前沿的研究現(xiàn)狀;提出并聯(lián)機(jī)構(gòu)中少自由度的優(yōu)越性以及其在康復(fù)醫(yī)療方面的應(yīng)用。其次,本文分析了人體下肢踝關(guān)節(jié)部位的基本結(jié)構(gòu),主要包括人體踝關(guān)節(jié)的醫(yī)學(xué)結(jié)構(gòu)及運(yùn)動功能,在此基礎(chǔ)之上推出設(shè)計(jì)人體踝關(guān)節(jié)康復(fù)訓(xùn)練機(jī)器人的條件。詳細(xì)闡述了人體康復(fù)治療理論基礎(chǔ)和踝關(guān)節(jié)康復(fù)訓(xùn)練機(jī)器人設(shè)計(jì)方案,并提出了康復(fù)訓(xùn)練機(jī)器人機(jī)構(gòu)設(shè)計(jì)的安全性要求。再次,在人體康復(fù)醫(yī)療理論基礎(chǔ)上提出幾種可以實(shí)現(xiàn)人體踝關(guān)節(jié)康復(fù)訓(xùn)練的并聯(lián)機(jī)構(gòu),并確定本文所研究的構(gòu)型,即3-SPS/S并聯(lián)機(jī)構(gòu)。并以螺旋理論為依據(jù)對機(jī)構(gòu)進(jìn)行自由度分析,使用矩陣法來描述機(jī)構(gòu)的運(yùn)動學(xué),以雅克比矩陣為依據(jù)對踝關(guān)節(jié)康復(fù)機(jī)構(gòu)進(jìn)行了速度和加速度分析,運(yùn)用拉格朗日的方法對機(jī)構(gòu)的動力學(xué)進(jìn)行了分析�；趯υ摽祻�(fù)機(jī)構(gòu)運(yùn)動性能的分析,使用Matlab軟件仿真編程運(yùn)算出了3-SPS/S并聯(lián)機(jī)構(gòu)的工作空間,從而確認(rèn)此機(jī)構(gòu)是否適用于人體踝關(guān)節(jié)的康復(fù)訓(xùn)練。最后,使用Solidworks三維制圖軟件繪制出3-SPS/S踝關(guān)節(jié)康復(fù)機(jī)構(gòu),并導(dǎo)入Adams分析軟件中進(jìn)行機(jī)構(gòu)桿件的運(yùn)動學(xué)及動力學(xué)分析,所得結(jié)果與經(jīng)過Matlab編程計(jì)算結(jié)果進(jìn)行對比,驗(yàn)證其可行性。
[Abstract]:In this paper, the small degree of freedom parallel mechanism is applied to the ankle rehabilitation training robot. The medical structure of the human ankle joint and the common parallel mechanism of the few degrees of freedom are introduced in this paper. A human ankle rehabilitation training robot based on 3-SPS / S parallel mechanism is designed, and the kinematics and dynamics of the robot mechanism are studied. Workspace analysis and motion simulation. First of all, this paper describes the current situation of various ankle injuries, ankle injuries mostly occur in athletes, aging people and life in the accidental injury; This paper lists a variety of ankle rehabilitation instruments used at home and abroad and the most advanced research status. Put forward the advantages of less degrees of freedom in parallel mechanism and its application in rehabilitation. Secondly, this paper analyzes the basic structure of the ankle joint of human lower limbs. It mainly includes the medical structure and movement function of human ankle joint. On this basis, the design conditions of human ankle rehabilitation training robot are presented. The theoretical basis of human rehabilitation therapy and the design scheme of ankle rehabilitation training robot are described in detail. And put forward the safety requirements of the mechanism design of rehabilitation training robot. Thirdly, on the basis of the theory of human rehabilitation medical treatment, several parallel mechanisms which can realize the rehabilitation training of human ankle joint are put forward. And the configuration studied in this paper, namely 3-SPS / S parallel mechanism, is determined. The kinematics of the mechanism is described by matrix method, which is based on the helical theory to analyze the degree of freedom of the mechanism. Based on the Jacobian matrix, the velocity and acceleration of the ankle rehabilitation mechanism were analyzed, and the dynamics of the mechanism was analyzed by using Lagrangian method. The workspace of 3-SPS / S parallel mechanism is calculated by using Matlab software, so as to confirm whether the mechanism is suitable for the rehabilitation training of human ankle. Finally. The 3-SPS / S ankle rehabilitation mechanism was drawn by using Solidworks 3D mapping software, and the kinematics and dynamics analysis of the mechanism members was carried out by introducing the Adams analysis software. The results obtained are compared with those calculated by Matlab programming, and the feasibility is verified.
【學(xué)位授予單位】：中北大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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