Adams智能假肢膝关节仿生机构设计与运动学分析
摘要 ：膝关节是保证人体下半身能稳定运动的核心部分,因此对膝关节的设计是假肢设计中的重要一环。结合不同人膝关节瞬心轨迹曲线，从而设计出来的假肢膝关节机构更能满足不同人的需求，更能使人体与假肢充分协调。本课题针对这样的问题，通过对假肢膝关节机构进行分析，建立膝关节瞬心的运动轨迹数学模型并进行数学优化；通过Matlab优化工具对机构进行优化计，获得最佳机构模型；运用Adams对机构模型进行运动学仿真，验证优化结果的可行性；运用Solidworks软件建立膝关节的三维实体模型并分析模型的应力及刚度特性。62928
毕业论文关键词：膝关节；瞬心轨迹；优化；运动学仿真；应力分析
Optimization design of the bionic institution of knee-joint of artificial intelligent prosthesis and analyze the Kinematics of institution
Abstract: As knee-joint is the core part to ensure the stability of the movement of the lower part of human body, the design of the knee-joint is an important part of prosthesis design.Considering the instantaneous trajectory curve of the center of knee-joint of different people, the designed prosthetic knee-joint mechanisms can better meet inpidual requirements, it enables the human body and the prosthetic fully coordinated. Aim at this problem, I consider to analyze the mechanism of the knee- joint of the prosthesis bodies.Then establish the model of instantaneous center of the movement trajectories the knee-joint mathematical and mathematical optimization; Making use of Matlab optimization tools to optimize the design of the organization to get the best institutional model;For the mechanism model,using Adams to kinematics simulation to verify the feasibility of optimization results; using Solidworks software to establish three-dimensional solid model of the knee-joint and analyze motion and stiffness characteristics of the model.
Keywords: knee-joint;trajectory of instantaneous center;Optimization;Kinematic Simulation;Stress Analysis
1.1课题研究的背景和意义 5
1.1.1课题的研究背景 5
1.1.2 课题的研究意义 5
1.3 膝关节采用的控制技术 7
2 机构选型及运动分析 7
2.1机构的选型 7
2.2模型建立与运动学分析 7
2.3基于Matlab的机构优化方法 9
2.3.1 Matlab介绍 9
2.3.2 对四杆机构基于Matlab的优化设计 10
2.3.3 优化结果 11
2.4 Adams仿真 13
3 三维模型的建立及应力分析 15
3.1假肢材料的选择 15
3.1.1 不锈钢 15
3.1.2 有色金属 16
3.1.3 塑料 16
3.2用Solidworks建立三维模型 17
3.2.1结构示意图 17
3.2.2 相关零件的设计 19
3.3基于Solidworks Simulation基础的应力分析 24
3.3.1 Solidworks Simulation软件介绍 24
3.3.2 对重要连接件的应力分析 25