上肢外骨骼助力機器人研究
發(fā)布時間：2018-12-14 12:26
【摘要】：當前,隨著人們工作壓力不斷增大,以及生活中的不健康習慣增多,人體心臟驟停的幾率增大,這時就需要對病人進行有效的心肺復蘇急救。在這個過程中對按壓的頻率和幅度都有嚴格的要求,但是往往醫(yī)生在心肺復蘇過程中會體力透支,影響搶救的效果。本文針對這個難題設計了一種可以幫助醫(yī)生增加力量的上肢外骨骼助力機器人,通過電機驅動系統(tǒng)來帶動各個關節(jié)協(xié)調運動,將力傳遞到醫(yī)生的手掌,接觸病人進行搶救。這樣既能夠使醫(yī)生更好的感知病人的實時情況,而且又能保持心肺復蘇全程擁有足夠的力量,實現(xiàn)最有效的搶救效果。而且此機構未來還可以用于協(xié)助殘疾人完成上肢多個關節(jié)的康復訓練。本文的主要研究內容如下:1.本文根據人體上肢各關節(jié)的運動特點,設計了心肺復蘇外骨骼助力機器人結構方案,對驅動電機以及減速器進行了選型,并通過對關鍵結構進行應力分析,對該結構安全性進行了校核。2.建立了上肢助力機器人運動學模型,研究了運動學正、逆解。通過Matlab得出其工作空間,并利用Adams對外骨骼心肺復蘇過程進行運動仿真分析。求出了外骨骼的雅克比矩陣,得到外骨骼機器人末端執(zhí)行器實時的線速度與角速度。3.運用拉格朗日方程法建立動力學模型,運用Adams對外骨骼進行動力學仿真分析,得到各關節(jié)的力矩變化,為外骨骼控制提供更好的理論參考。4.針對所設計的上肢外骨骼助力機器人,分別利用傳統(tǒng)PID控制和模糊自適應PID控制器進行分析,并在Matlab的Simulink模塊中進行控制模型搭建與仿真,驗證模糊PID控制器的性能。利用ADAMS和MATLAB針對外骨骼進行聯(lián)合控制仿真,實現(xiàn)所設計的功能要求。通過實驗研究了按壓過程中各參數的變化,設計了幅度和頻率調節(jié)控制策略,通過仿真和實驗對比驗證了其實用性。
[Abstract]:At present, with the increasing of people's work pressure and unhealthy habits in life, the probability of cardiac arrest increases, so it is necessary to carry on the effective CPR first aid to the patients. In this process, there are strict requirements for the frequency and amplitude of compression, but doctors often overdraft physical strength in the process of cardiopulmonary resuscitation, which affects the effect of rescue. In this paper, we design an exoskeleton robot which can help doctors to increase their strength. The robot can drive the coordinated motion of every joint through the motor drive system, transfer the force to the doctor's palm and contact the patient for rescue. This not only enables doctors to better perceive the patient's real-time situation, but also can maintain the whole process of cardiopulmonary resuscitation with sufficient strength to achieve the most effective rescue effect. And it could be used to help disabled people with multiple joints in their upper limbs. The main contents of this paper are as follows: 1. According to the motion characteristics of each joint of human upper limb, the structural scheme of exoskeleton booster robot for cardiopulmonary resuscitation (CPR) is designed in this paper. The driving motor and reducer are selected, and the stress analysis of the key structures is carried out. The safety of the structure was checked. 2. 2. The kinematics model of upper limb booster robot is established, and the forward and inverse kinematics solutions are studied. The workspace of exoskeleton cardiopulmonary resuscitation was obtained by Matlab, and the motion simulation of exoskeleton cardiopulmonary resuscitation was carried out by Adams. The Jacobian matrix of exoskeleton is obtained and the real time linear and angular velocities of exoskeleton robot end actuators are obtained. The dynamic model is established by Lagrange equation method, and the dynamics of exoskeleton is simulated by Adams. The torque changes of each joint are obtained, which provides a better theoretical reference for exoskeleton control. 4. The traditional PID control and fuzzy adaptive PID controller are used to analyze the designed exoskeleton robot. The control model is built and simulated in the Simulink module of Matlab to verify the performance of the fuzzy PID controller. ADAMS and MATLAB are used to simulate the exoskeleton. The variation of the parameters in the pressing process is studied experimentally, and the amplitude and frequency regulation control strategies are designed. The practicability is verified by simulation and experimental comparison.
【學位授予單位】：沈陽航空航天大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242
本文編號：2378612
[Abstract]:At present, with the increasing of people's work pressure and unhealthy habits in life, the probability of cardiac arrest increases, so it is necessary to carry on the effective CPR first aid to the patients. In this process, there are strict requirements for the frequency and amplitude of compression, but doctors often overdraft physical strength in the process of cardiopulmonary resuscitation, which affects the effect of rescue. In this paper, we design an exoskeleton robot which can help doctors to increase their strength. The robot can drive the coordinated motion of every joint through the motor drive system, transfer the force to the doctor's palm and contact the patient for rescue. This not only enables doctors to better perceive the patient's real-time situation, but also can maintain the whole process of cardiopulmonary resuscitation with sufficient strength to achieve the most effective rescue effect. And it could be used to help disabled people with multiple joints in their upper limbs. The main contents of this paper are as follows: 1. According to the motion characteristics of each joint of human upper limb, the structural scheme of exoskeleton booster robot for cardiopulmonary resuscitation (CPR) is designed in this paper. The driving motor and reducer are selected, and the stress analysis of the key structures is carried out. The safety of the structure was checked. 2. 2. The kinematics model of upper limb booster robot is established, and the forward and inverse kinematics solutions are studied. The workspace of exoskeleton cardiopulmonary resuscitation was obtained by Matlab, and the motion simulation of exoskeleton cardiopulmonary resuscitation was carried out by Adams. The Jacobian matrix of exoskeleton is obtained and the real time linear and angular velocities of exoskeleton robot end actuators are obtained. The dynamic model is established by Lagrange equation method, and the dynamics of exoskeleton is simulated by Adams. The torque changes of each joint are obtained, which provides a better theoretical reference for exoskeleton control. 4. The traditional PID control and fuzzy adaptive PID controller are used to analyze the designed exoskeleton robot. The control model is built and simulated in the Simulink module of Matlab to verify the performance of the fuzzy PID controller. ADAMS and MATLAB are used to simulate the exoskeleton. The variation of the parameters in the pressing process is studied experimentally, and the amplitude and frequency regulation control strategies are designed. The practicability is verified by simulation and experimental comparison.
【學位授予單位】：沈陽航空航天大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242
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