智能假肢上肢仿生结构设计与运动学分析
毕业论文关键词 智能假肢上肢 运动分析 机械设计 仿生机构
Title Intelligent prosthetic upper limb bionic structure Design and kinematics analysis
Abstract Thesis described the source and significance of the topic , and gives the body prosthesis research status at home and abroad, then introduces the structure of human body upper limb specific, combined with the structure of human body upper limb bionic limbs structure of general structure scheme is given. The purpose of this paper is designed intelligent prosthetic arms of bionic structure and kinematic analysis. Thesis first puts forward the whole scheme design of intelligent prosthetic arms and needed to solve the main problems, including transmission and the design of the drive way, elbow, wrist and forearm. Then include the design of the gear and the motor was calculated and the kinematics analysis. Thesis finally summarizes the innovations and characteristics of this design, and puts forward several design optimization scheme. Intelligent design in this paper is according to the principle of the structure of the human body upper limb prosthesis proposed a upper limb bionic mechanism, its small size, simple operation, has a broad application prospect.
Keywords Intelligent prosthetic arms Motion analysis mechanical design bionic mechanism
目 录
1 绪论 . 1
1.1 课题来源 1
1.2 课题的目的和意义 1
1.3 智能假肢上肢国内外研究现状 1
1.3.1 国外智能假肢上肢发展概况. 1
1.3.2 国内智能假肢上肢发展概况. 2
1.3.3 国内外智能假肢上肢发展趋势 . 3
1.4 本文的研究思路和主要内容 3
2 人体上肢结构分析与模型的建立 . 4
2.1 人体上肢结构分析 4
2.2 人体上肢动力学模型的建立 5
2.2.1 人体上肢的多体模型 5
2.2.2 人体上肢的关节铰 6
2.2.3 人体上肢肌肉的作用模型. 7
2.2.4 关节参考坐标系的定义 7
2.3 人体上肢运动学和动力学性能的计算求解 8
2.4 模型的建立 . 10
3 智能假肢上肢结构设计 11
3.1 电机与齿轮的选择 . 11
3.1.1 电机的种类 . 11
3.1.2 电机的选择 . 12
3.1.3 直流电机的伺服控制 . 13
3.2 肘部设计 . 14