發(fā)布時(shí)間：2018-05-28 03:33

  本文選題：爬樓裝置 + 人體工程學(xué)��； 參考：《南京理工大學(xué)》2012年碩士論文

【摘要】：針對(duì)我國擁有較多行動(dòng)不便的老齡人口及下肢傷殘者的實(shí)際情況,為了幫助此類人群克服樓梯障礙,擴(kuò)大他們的活動(dòng)范圍,本文以一種具有爬樓功能的助行裝置為研究對(duì)象,主要進(jìn)行了如下工作： 首先,介紹助行裝置的爬樓機(jī)理,給出全自動(dòng)與半自動(dòng)兩種方案并說明切換系統(tǒng)的組成。根據(jù)人體工程學(xué)及爬樓約束關(guān)系,設(shè)計(jì)裝置的有關(guān)尺寸,并對(duì)相關(guān)指標(biāo)進(jìn)行校核。最后,利用三維建模軟件SolidWorks,建立了裝置各部分的零件模型并進(jìn)行整機(jī)裝配。 其次,通過簡化,推導(dǎo)助行裝置的平地運(yùn)動(dòng)學(xué)方程。根據(jù)爬樓機(jī)理,抽象出運(yùn)行過程中需要控制的關(guān)節(jié)參量,將爬樓過程細(xì)化,分階段討論了裝置上下樓過程中的運(yùn)動(dòng)特點(diǎn)并給出相應(yīng)的運(yùn)動(dòng)學(xué)模型,同時(shí)設(shè)計(jì)用于運(yùn)動(dòng)學(xué)計(jì)算的用戶圖形界面。運(yùn)用矩陣變換有關(guān)理論得到某產(chǎn)品的運(yùn)動(dòng)模型,所設(shè)計(jì)的助行裝置與之比較在一定程度上優(yōu)化了運(yùn)動(dòng)軌跡。 然后,將助行裝置的三維CAD模型通過中間文件導(dǎo)入ADAMS中,將運(yùn)動(dòng)學(xué)有關(guān)數(shù)據(jù)生成裝置的驅(qū)動(dòng)函數(shù),通過添加材料及相關(guān)約束等構(gòu)建了裝置的虛擬樣機(jī)模型。分別對(duì)助行裝置的上下樓過程進(jìn)行仿真,結(jié)果表明了爬樓方案的可行性并為實(shí)際樣機(jī)制造提供參考。 最后,選擇爬樓機(jī)構(gòu)的電機(jī)及控制器,并設(shè)計(jì)其驅(qū)動(dòng)系統(tǒng)硬件電路。硬件電路分為最小系統(tǒng)、驅(qū)動(dòng)部分、保護(hù)電路及電源電路等,分別基于柵極驅(qū)動(dòng)芯片及智能功率模塊設(shè)計(jì)兩種驅(qū)動(dòng)方案,并對(duì)各模塊進(jìn)行了相應(yīng)的調(diào)試,結(jié)果表明硬件電路設(shè)計(jì)良好。
[Abstract]:In view of the actual situation of the elderly population with more mobility difficulties and the disabled lower limbs in our country, in order to help these people overcome the stair obstacle and expand their range of activities, this paper takes a walking aid device with the function of climbing the building as the research object. The main tasks were as follows: Firstly, the climbing mechanism of the walking aid is introduced, the automatic and semi-automatic schemes are given and the composition of the switching system is explained. According to ergonomics and climbing constraints, design the relevant dimensions of the device, and check the relevant indicators. Finally, the 3D modeling software SolidWorks is used to set up the parts model of each part of the device and assemble the whole machine. Secondly, through simplification, the kinematics equation of the moving aid is deduced. According to the climbing mechanism, the joint parameters needed to be controlled in the running process are abstracted, and the climbing process is refined. The motion characteristics and the corresponding kinematics model of the upper and lower floors are discussed in stages. At the same time, the user graphical interface for kinematics calculation is designed. The motion model of a product is obtained by using matrix transformation theory, and the motion trajectory is optimized to a certain extent by comparing the designed device with it. Then, the 3D CAD model of the device is imported into the ADAMS through the intermediate file, the driving function of the device is generated by the kinematics related data, and the virtual prototype model of the device is constructed by adding materials and related constraints. The simulation results show the feasibility of the climbing scheme and provide reference for the actual prototype manufacture. Finally, the motor and controller of building climbing mechanism are selected, and the hardware circuit of driving system is designed. The hardware circuit is divided into minimum system, drive part, protection circuit and power supply circuit. Two kinds of drive schemes are designed based on gate drive chip and intelligent power module respectively, and each module is debugged accordingly. The results show that the hardware circuit is well designed.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TH789

【引證文獻(xiàn)】

相關(guān)碩士學(xué)位論文 前3條

1 高婧婷;一類非晶帶材在線卷取控制系統(tǒng)的研究和設(shè)計(jì)[D];南京理工大學(xué);2013年

2 周琪;一種平地、爬樓兩用助行裝置的設(shè)計(jì)與工程實(shí)現(xiàn)[D];南京理工大學(xué);2013年

3 李靈;一種可獨(dú)立操縱的平地—樓梯兩用輪椅控制系統(tǒng)設(shè)計(jì)[D];南京理工大學(xué);2013年

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本文編號(hào)：1945099