肩离断多自由度机器人型假肢设计与仿真-design and simulation of multi-degree-of-freedom robot prosthesis with shoulder fracture.docxVIP

山东科技大学硕士学位论文摘 山东科技大学硕士学位论文 摘 要 摘 要 本论文主要对山东科技大学机器人中心研制的肩离断机器人型假肢的设计与仿真进 行了研究。 该假肢具有 六个自由度，能够基本实现对真人手臂动作的模仿。本文在 MATLAB 中运用 fmincon 优化算法对大臂外摆驱动、大臂平衡、肘部驱动及肘部平衡机构进行了 最优化计算，确定了结构设计中的待优化变量，建立起结构的运动数学模型，构造了结 构设计的约束与目标函数，最终确定了驱动电机和气动支杆的安装结构。利用 SolidWorks 对假肢模型进行了三维造型和装配，并直观且方便地发现了二维设计中的错误。总结了 将 SolidWorks 中装配模型转到 COSMOSMotion 中时应该注意的问题，对机器人型假肢 肩部及肘部关节进行了运动仿真并输出了力矩曲线，对假肢六个自由度进行了联合仿真， 为驱动电机和气动支杆的选取提供了必要的数据支持，利用 COSMOSWorks 对支撑杆进 行了动态力学分析。运用 VB 语言及 SolidWorks 中的 API 接口对 SolidWorks 进行了二次 开发，实现了对机器人型假肢模型的参数化仿真。 关键词：机器人型假肢，MATLAB，Fmincon，SolidWorks，COSMOSMotion，API， COSMOSWorks，参数化仿真 ABSTRACT This thesis ma inly focuses on design and simulation of the MDOF Robotic Prosthesis ’s Shoulder, which is a product of the Robot Research Center in Shandong University of Science and Technology. The prosthesis has six degrees of freedom,t hat can basica lly mimic the action of live arm.Th is thesis optimize the structure of latera l shoulder drive ，arm balance device ，elbow balance device and elbow drive through fmincon algor ithm in MATLAB,the optima l variable of the structure is determine d, the kinema tic mathematica l model is established, design constraints and objective funct ion is construct ed,the installation structure of drive motor and balance support bar are fixed.The prosthesisis’s three-dimension model and assembly drawing is completed by Solidworks, ma ny mistakes are found in the process of two-dimensiona l design.Some important problems are summa rized when the assembly model is devolve d to the Cosmosmot ion in Solidworks.The arm and elbow joints of MDOF Robotic Prosthesis are simulated,and the torque curve is output,genera l simulation of the MDOF Robotic Prosthesis is completed ，that provide data support to choosing the drive motor and the balance support bar. The Solidworks API interface is re-developed, parametric simula tion for the model of MDOF Robotic Prosthesis is completed. Keywords : Robotic Prosthesis, MATLAB, Fmincon, SolidWorks, COSMOSMotion, API, COSM