【作者】 王强；

【导师】 曹东兴；

【作者基本信息】 河北工业大学 ， 机械工程， 2020， 硕士

【摘要】 下肢康复机构能够有效地完成下肢损伤患者的肢体康复训练任务,对提高患者生活质量、促进家庭和睦具有重要的实际意义。变刚度关节作为下肢康复机构的重要组成部分,能够提高人体下肢在康复过程中的安全性,同时具有节省能量、输出柔性力矩等优势。下肢康复机构为课题组项目中一款安装于爬楼轮椅平台上的康复机构,该机构能够在患者乘坐轮椅时进行下肢的康复训练,通过结合轮椅上的座椅位姿调节机构共同完成下肢关节的康复训练。下肢康复机构在进行肢体康复过程中需要与人体协作,按照人体下肢在不同康复时期的运动能力,调节机构运动轨迹以完成康复训练任务。为避免人体下肢在康复过程中受到二次损伤,并满足关节旋转角度、扭矩的变化要求,基于通口本体设计方法,设计出一种新型变刚度关节,以提高下肢康复机构对肢体进行训练时的安全性及可靠性。课题主要从以下几个方面进行研究:(1)简述通口本体设计方法,建立人体膝关节肌肉骨骼模型,分析膝关节刚度变化特性及通口属性;将人体关节中通口的功能属性与机械关节相匹配,并对机械变刚度关节的功能及通口属性进行分析,得到多个变刚度关节方案;通过建立人体坐标系获取人体关节运动参数,结合下肢康复机构工作过程中对变刚度关节的运动要求,利用模糊层次分析法对多个变刚度关节方案进行了评价,从而选出一个最优方案。(2)提出一种新型变刚度关节,对关节变刚度原理进行分析,结合下肢康复机构康复训练要求及阿基米德螺线变化特性,建立关节变力矩输出模型,得到关节输出扭矩及刚度的变化规律。构建关节三维模型,分析关节输出力矩调节方式及重要组成部分的设计过程,并对弹性元件进行设计校核。(3)对建立的数学模型进行理论仿真,并分析关节输出扭矩及刚度变化特性;利用有限元分析软件,对片簧的设计校核进行验证;基于Adams软件,利用设计完成的关节三维模型,搭建仿真实验平台。通过仿真实验得到关节输出扭矩特性,并与理论分析对比,同时对关节进行位置跟随仿真实验,判断负载作用下关节运动的稳定性,验证变刚度关节方案的可行性及合理性。更多还原

【Abstract】 Lower limb rehabilitation institutions can help patients with lower limb injuries to complete the task of physical rehabilitation training effectively,which has important practical significance for improving the quality of life of patients and promoting family harmony.As an important part of the lower limb rehabilitation mechanism,the variable stiffness joint can improve the safety of the human lower limb during the rehabilitation process,and has the advantages of saving energy and outputting flexible torque.The lower limb rehabilitation institution is a rehabilitation institution installed on the wheelchair climbing platform in the research group project.This institution can perform lower limb rehabilitation training when a patient is in a wheelchair.The lower limb joint is jointly completed rehabilitation training by combining the seat posture adjustment mechanism on the wheelchair.The lower limb rehabilitation organization shall cooperate with the human body during the limb rehabilitation process,and adjust according to the different stages of the human lower limb joint rehabilitation training.At the same time,in order to avoid secondary injuries to the lower limb during the rehabilitation process,and improve the safety of the lower limb during the rehabilitation training,it also meets the requirements of changes in angle and torque when the joint rotates.Based on the port-based ontology design method,a new type variable stiffness joint is designed to improve the safety and reliability of the lower limb rehabilitation mechanism when training the limb.The subject is mainly studied from the following aspects;(1)Briefly describe the design method of port-based ontology,establish a musculoskeletal model of the human knee joint,analyze the stiffness characteristics and ontology properties of the knee joint,match the port functional properties of the human joint stiffness changes with the mechanical joints,and analyze function and the port properties of the mechanical variable stiffness joints attributes to obtain multiple joint solutions with variable stiffness;obtain human joint motion parameters by establishing a human coordinate system,combined with the motion requirements joints with lower limb rehabilitation institutions,and use Fuzzy Analytical Hierarchy Process(FAHP)to analyze multiple programs evaluation,so as to choose an optimal solution;(2)A new type of variable stiffness joint is proposed.The principle of joint variable stiffness is analyzed,and combined with the rehabilitation training requirements of lower limb rehabilitation institutions and the characteristics of Archimedes spiral,a joint variable torque output model is established to obtain output torque and stiffness of the joint change rule.Three-dimensional model of joint,analysis of joint variable torque adjustment method and design process of important mechanism parts,and check calculation of elastic components;(3)The established mathematical model is theoretically simulated,and the characteristics of joint output torque and stiffness change are analyzed.The finite element analysis software is used to verify the check calculation of leaf spring.Based on Adams software,the Three-dimensional model of the designed joint is used to build a simulation experiment platform,obtained the joint output torque characteristics through simulation experiments,and compared with the theoretical analysis,At the same time,position follow simulation experiments are performed on the joints to determine the stability of the joint movement under the load,and to verify the feasibility and rationality of the variable stiffness joint scheme.更多还原