| 肩离断多自由度机器人型假肢肩部气动平衡机构的优化设计 |
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| 引用本文： | 樊炳辉,邹吉祥,孙高祚,孙爱芹,郑义. 肩离断多自由度机器人型假肢肩部气动平衡机构的优化设计[J]. 机械设计与制造, 2011, 0(7) |
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| 作者姓名： | 樊炳辉 邹吉祥 孙高祚 孙爱芹 郑义 |
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| 作者单位： | 山东科技大学,青岛,266510 |
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| 基金项目： | 山东省科技计划项目(2008GG30004010); 青岛市科技计划项目(08-1-3-4-JCH); 博士点基金(20093718110007); 山东省“泰山学者”建设工程专项经费 |
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| 摘 要： | 肩离断多自由度机器人型假肢拥有6个自由度,其肩部前后摆采用旋转电机驱动,外摆采用直线电机驱动。为避免空间干涉以及减小驱动力矩,采用了一种气动支撑杆来实现对大臂关节重力矩的平衡。设计了气动支撑杆平衡结构形式,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。用有约束问题的最优化算法求得本结构的综合最优解,最后输出了优化设计计算结果及其运动仿真图形。
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| 关 键 词： | 假肢 气动平衡 MATLAB 最优化算法 |
Optimization design on pneumatic balance structure of MDOF robotic prosthesis's shoulder |
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| FAN Bing-hui,ZOU Ji-xiang,SUN Gao-zuo,SUN Ai-qin,ZHENG Yi. Optimization design on pneumatic balance structure of MDOF robotic prosthesis's shoulder[J]. Machinery Design & Manufacture, 2011, 0(7) |
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| Authors: | FAN Bing-hui ZOU Ji-xiang SUN Gao-zuo SUN Ai-qin ZHENG Yi |
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| Affiliation: | FAN Bing-hui,ZOU Ji-xiang,SUN Gao-zuo,SUN Ai-qin,ZHENG Yi(Shandong University of Science and Technology,Qingdao 266510,China) |
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| Abstract: | The MDOF robotic prosthesis has 6 degrees of freedom,which shoulder joint is driven by a rotating motor for swinging back and forth and a linear motor for lateral swinging.To avoid interference of the space and reduce driving torque,a pneumatic support bar is adopted to balance the weight torque of the shoulder joint.A balance structure for the pneumatic support bar is designed,and the optimal variable of the structure is determined as well,the kinematic mathematical model is therefore established and desig... |
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| Keywords: | Prosthesis Pneumatic balance MATLAB Optimization algorithms |
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