摘要气动柔性驱动器作为一种新型的机器人驱动器，受到医学界的广泛研究与应用。目前市场上的手腕康复训练器大多是电机驱动。气动柔性驱动器有较高的柔软度和较低的工作温度，所以更加安全。但其种类不够多，功能不太完善。63228

本文首先介绍了国内外手腕康复驱动器的研究现状，指出了各自的优缺点。在此基础上提出了一种具有弯曲能力的手腕气动柔性驱动器，然后用solidworks三维软件建立了驱动模型，并用ANSYS软件对其进行有限元分析，得到了内部压力为0.5MPa时管的应力应变分析结果。

毕业论文关键词  气动柔性驱动器  手腕康复训练器  有限元分析

毕业设计说明书（论文）外文摘要

Title    Design of flexible wrist rehabilitation driver   and finite element analysis                                                

Abstract Flexible pneumatic actuator as a kind of novel actuators, has been widely studied and applied in medical field. At present, wrist rehabilitation devices on the market are mostly driven by motor. Flexible pneumatic actuator is much safer due to its high compliance and low working temperatures. While the sort is not quite much and the function is not quite perfect.

For the first step, studies concerning wrist rehabilitation actuators abroad and at home are reviewed and comparisons among them are made to summarize the advantages and disadvantages. On the basis, we present a kind of flexible pneumatic actuator with bending capabilities. Then the model is established by SolidWorks software. By using the finite element analysis software ANSYS, we get the results of pipe stress and stress analysis when the internal pressure is 0.5MPa.

Keywords   flexible pneumatic actuator    wrist rehabilitation device   finite element analysis

1  引言 1

1.1  课题设计的背景 1

1.2  手腕康复驱动器的研究现状 1

1.2.1  电气式驱动器 1

1.2.2  气压式驱动器 2

1.2.3  液压式驱动器 3

1.3  小结 4

2  手腕康复驱动器总体设计 5

2.1  腕关节的运动 5

2.2  总体结构 5

2.3  设计尺寸 5

2.3  建立模型 6

2.3.1  驱动主体 6

2.3.2  管套 9

2.3.2  导气管 11

3  手腕康复驱动器的有限元分析 12

3.1  ANSYS软件简介 12

3.1.1  Hypermesh软件简介 12

3.1.2  ABAQUS软件简介 12

3.2  设计参数 13

3.2.1  弹性模量 13

3.2.2  密度 16

3.2.3  泊松比 16

3.3  驱动主体的分析 16

3.3.1  扁管的几何模型的导入及几何清理