本文選題：上肢假肢　切入點(diǎn)：輕量化　出處：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：由于交通事故、工傷和自然災(zāi)害等因素,我國(guó)截肢患者人數(shù)眾多。為了早日恢復(fù)身體健康,提高生活自理能力,回歸基本社會(huì)勞動(dòng),安裝假肢對(duì)于截肢患者來(lái)說(shuō)顯得尤為迫切。為了幫助截肢患者彌補(bǔ)身心創(chuàng)傷,恢復(fù)部分身體缺陷,需要研發(fā)更加輕巧實(shí)用的多自由度上肢假肢。然而當(dāng)前我國(guó)上肢假肢的研發(fā)設(shè)計(jì)大多處于初級(jí)階段,只有單自由度的運(yùn)動(dòng)功能甚至只起修飾作用。少數(shù)多自由度上肢假肢結(jié)構(gòu)復(fù)雜、尺寸質(zhì)量較大,與實(shí)際人體手臂尺寸難以匹配,達(dá)不到輕量化的要求,反而增加了截肢患者的身體負(fù)擔(dān),因此研發(fā)一種輕量化多自由度上肢假肢顯得至關(guān)重要。針對(duì)大部分截肢患者的需求,本文研究了一種輕量化多自由度上肢假肢結(jié)構(gòu),功能上能滿足截肢患者的使用要求,形狀尺寸與正常人體手臂相似,并且盡量降低假肢質(zhì)量以減輕患者的使用負(fù)擔(dān)。首先,通過(guò)分析現(xiàn)有國(guó)內(nèi)假肢主流產(chǎn)品,充分認(rèn)識(shí)了目前上肢假肢設(shè)計(jì)的熱點(diǎn)及難點(diǎn),發(fā)現(xiàn)上肢假肢以單自由度假肢手為主,肩關(guān)節(jié)假肢研究還存在缺口。針對(duì)假肢結(jié)構(gòu)輕量化設(shè)計(jì)這一研究熱點(diǎn)做了深入研究。其次,分析了人體上肢生理參數(shù)與運(yùn)動(dòng)范圍,并以此作為上肢假肢的設(shè)計(jì)依據(jù)。在確定了假肢的運(yùn)動(dòng)功能后,合理設(shè)計(jì)上肢假肢的自由度分布方式,對(duì)上肢假肢的尺寸質(zhì)量與活動(dòng)范圍提出設(shè)計(jì)要求。再次,采用三維軟件對(duì)上肢假肢進(jìn)行結(jié)構(gòu)設(shè)計(jì)。為使設(shè)計(jì)結(jié)構(gòu)緊湊,減小假肢的尺寸,采用差動(dòng)機(jī)構(gòu)實(shí)現(xiàn)肩部的兩個(gè)運(yùn)動(dòng)自由度。根據(jù)設(shè)計(jì)輕量化的要求,采用繩傳動(dòng)方式代替常見(jiàn)的齒輪傳動(dòng)。驅(qū)動(dòng)機(jī)構(gòu)采用帶有行星減速箱的直流伺服電機(jī)。設(shè)計(jì)過(guò)程中還對(duì)上肢假肢重要結(jié)構(gòu)件進(jìn)行強(qiáng)度校核驗(yàn)算,對(duì)鋼絲繩進(jìn)行選型計(jì)算。然后,為了實(shí)現(xiàn)上肢假肢的智能化控制,對(duì)假肢進(jìn)行了運(yùn)動(dòng)學(xué)分析。根據(jù)上肢假肢的結(jié)構(gòu)建立其D-H運(yùn)動(dòng)坐標(biāo)系,分析其運(yùn)動(dòng)學(xué)正解。在上肢假肢逆運(yùn)動(dòng)學(xué)分析上,采用了幾何法與迭代法兩種方法。運(yùn)用蒙特卡洛法求解假肢的工作空間,并與實(shí)際工作空間進(jìn)行比較。最后,設(shè)計(jì)開(kāi)發(fā)了上肢假肢的控制系統(tǒng),對(duì)上肢假肢各關(guān)節(jié)進(jìn)行運(yùn)動(dòng)控制,完成了上肢假肢的關(guān)節(jié)測(cè)試與基本動(dòng)作測(cè)試,實(shí)驗(yàn)結(jié)果滿足設(shè)計(jì)要求。
[Abstract]:As a result of traffic accidents, industrial injuries and natural disasters, there are a large number of amputees in China. In order to restore physical health as soon as possible, to improve their ability to take care of themselves, and to return to basic social labor, Prosthesis is especially urgent for amputees. In order to help amputees recover from physical and mental trauma and recover some of their physical defects, There is a need to develop more lightweight and practical upper limb prostheses with multiple degrees of freedom. However, at present, most of the research and design of upper limb prostheses in China are in the primary stage. Only the motion function of single degree of freedom can only be modified. The structure of a few multi-degree-of-freedom upper limb prostheses is complex, and the size of the prosthesis is large, which is difficult to match with the actual size of the human arm, and can not meet the requirement of lightweight. On the contrary, it increases the body burden of amputation patients, so it is very important to develop a lightweight multi-degree-of-freedom upper limb prosthesis. In order to meet the needs of most amputation patients, this paper studies a lightweight multi-degree-of-freedom upper limb prosthesis structure. Function can meet the requirements of amputation patients, shape and size is similar to the normal human arm, and try to reduce the quality of prosthesis to reduce the burden of use of patients. First, through the analysis of the existing domestic mainstream prosthetic products, This paper fully recognizes the hot and difficult points in the design of upper limb prosthesis, and finds that the upper limb prosthesis is dominated by a single degree of freedom prosthesis hand, and there is still a gap in the research of shoulder joint prosthesis. The research focus on lightweight design of prosthetic structure is studied deeply. Secondly, The physiological parameters and movement range of human upper limb are analyzed, which is used as the basis for the design of upper limb prosthesis. After determining the movement function of prosthesis, the distribution of degrees of freedom of upper limb prosthesis is reasonably designed. The design requirements for the dimension, quality and range of movement of the upper limb prosthesis are put forward. Thirdly, the structural design of the upper limb prosthesis is carried out by using 3D software. In order to make the design structure compact and reduce the size of the prosthesis, The differential mechanism is used to realize the two degrees of freedom of motion of the shoulder. According to the requirement of lightweight design, This paper adopts rope transmission instead of common gear transmission. The driving mechanism adopts DC servo motor with planetary deceleration box. In the design process, the strength check and calculation of the important structure of upper limb prosthesis are carried out, and the type selection of steel wire rope is calculated. In order to realize the intelligent control of the upper limb prosthesis, the kinematics analysis of the prosthesis is carried out. According to the structure of the upper limb prosthesis, the D-H kinematic coordinate system is established, and the kinematics positive solution is analyzed. The geometric method and iterative method are adopted. The Monte Carlo method is used to solve the workspace of the prosthesis, and it is compared with the actual workspace. Finally, the control system of the upper limb prosthesis is designed and developed. The motion control of each joint of the upper limb prosthesis is carried out, and the joint test and basic motion test of the upper limb prosthesis are completed. The experimental results meet the design requirements.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：R496

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