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 Adams智能假肢膝关节仿生机构设计与运动学分析:http://www.youerw.com/jixie/lunwen_69249.html