并联康复治疗机械手的设计与仿真研究

上海交通大学硕士学位论文并联康复治疗机械手的设计与仿真研究姓名：沈捷申请学位级别：硕士专业：机械制造及其自动化指导教师：刘成良20060210121ADAMSUnigraphicsADAMSADAMSABSTRACTIITHEDESIGNANDSIMULATIONOFSHUNT-WOUNDREHABILITATIVEMECHANICALARMABSTRACTRehabilitativemechanicalarmisabigbranchoftherapyrobots,anditwillhaveaprosperousapplicationinthe21stcentury.Basedonthemeritsoftheexistingtherapyrobots,thisdissertationdiscussesthedesignprocessofanewkindofrehabilitativemechanicalarm.Beginningwiththeanatomyofhumanarm,anoverallplanningoftherehabilitativemechanicalarmismadefirst.Then,basedonthecomprehensiveanalysisofseveraldesignschemes,thedetailedstructureofmechanicalarmanditsmoduleconstitutionaredetermined.Andthisisfollowedbytheoptimizationdesign,usingparametricdesignfunctionofADAMS,ofthewholemechanicalarmandofitsmodules.Andthedimensionsofallpartsofthemechanicalarmaredeterminedaftertheoptimization.Finally,kinematicsandkineticsanalysisofthewholemechanicalarmandallmodulesareconductedinADAMS/VIEW,whichverifiesitsfeasibilityinrehabilitativetherapy.Keywordsrehabilitativemechanicalarm,mechanismdesign,ADAMSsimulation,parametricdesign200621211.1,211.22080901-1Handy11-2ManusFig.1-1Handy1Fig.1-2WheelchairwithManusarmMikeToppingHandy11.12[1][2]11.2ManusMIT-MANUS[3]1.3GuilinYang7[4]1-3MIT-MANUSFig.1-3Strokepatientduringrobot-aidedtherapy2,(MEL)MELKONG[5]SATOTransitionResearchCorporation,TRC(HelpMateRobotics)Help-Mate[6]243,31986SENRIO451-411-52Fig.1-4Smartwheelchair1Fig.1-4Smartwheelchair24,,44,M.C.CarrozzS.Schulz,,,(RIC)45.41-6Fig.1-6ArtificialarmdevelopedbyRIC,U.S.A5CPM,,2,,90LumP.S.hand-object-handsystemSpauldingMIT-MANUS5,,JohnsonMJDriver'sSimulationEnvironmentforArmTherapy:SEATReinkensmeyerDJAssistedRehabilitationandMeasurementGuideeinkensmeyerARMGuideVA/StanfordBurgarCGmirror-imagemotionenabler:MIME[7]121.3601.210215106[8]1.4(1)ABC(2)ABADAMS/VIEWADAMS/VIEW72.12.2[9]123,842-132-1Fig.2-1Anatomyofhumanarm13//21/31/131292-1/90-45/0900/01250/-9090/-75752-2Fig.2-2Movementsneededtobecontrolledbytherapyarm2-210a.b.2-3Fig.2-3Therapyarmscheme-1&scheme-22-373222-322-32-4Fig.2-4Therapyarmscheme-3112-42.332-5112-5Fig.2-5MechanismchartoftherapyarmX1Y1O1X2X3XY2Y3Y4Z1(Z2/Z3/Z4/Z)O2O3O4XYTRS122-6Fig.2-6Slidingmechanism2-6O4ZL3PQè2.6r3r4d32222334343(2cos)Lrrrrdq=+-+r3r4d3L3è2-7Fig.2-7RotationmechanismX2Y2Z2/Z3/ZX3Y3O3O2P2P2OQ2áP2OQ1è1P2OQ3âO3Q0=r3;O3P2=r2Q0d2Q1Oè1áâX3Y3Z3/Z4X4Y4O4O3QQ1PO0O4QèO4Q0r4;O3P=r3Q0d3X3O3Y3PQ132-7OO2OO3O2OQ3áâè1áâè1L2Q1P2d2r2r3Q0Q1áâOQ1aP2Ob22221cos2abLabq+-=aOQ1r3Q0Q1/sinâbP2Or2/siná2-83RPSFig.2-83RPSStewartplatform3RPS[10]O1-X1Y1Z1O2-X2Y2Z2M1M2M3Q1Q2Q3O1(r1)O2(r2)M1M2M3Q1Q2Q3O22-8111222111122223333010001NOAPNOAPARTNOAP⎡⎤⎢⎥⎡⎤⎢⎥==⎢⎥⎢⎥⎣⎦⎢⎥⎣⎦2-1X1Y1Z1/Z2X2Y2O2O1M2O2Q1=r2;O1M1=r1Q2d1M1M3Q1Q314222111111122223333010001noapnoapARTnoap⎡⎤⎢⎥⎡⎤⎢⎥==⎢⎥⎢⎥⎣⎦⎢⎥⎣⎦2-212TO2-X2Y2Z2O1-X1Y1Z112AO1-X1Y1Z1O2-X2Y2Z221T21A1221211()()TAAA-==12-8TO1-X1Y1Z1T1T2T3O2-X2Y2Z2t1t2t311221233tTtTTtT⎡⎤⎡⎤⎢⎥⎢⎥=⎢⎥⎢⎥⎢⎥⎢⎥⎣⎦⎣⎦(2-3)Mii123O2-X2Y2Z233121221111111111111122122111221113313313133131111111/23/2/23/2/23/2/23/2/23/2/23/2111mMmmMMTpnrOrpnrOrpnrpnrpnrOrpnrOrpnrpnrOrpnrOr⎡⎤⎡⎤=⎢⎥⎢⎥⎣⎦⎣⎦⎡⎤-+--+⎢⎥+-+--⎢⎥=⎢⎥+-+--⎢⎥⎢⎥⎣⎦2-42212111120()/2pnrnOprnO+=⎧⎪=⎨⎪=-⎩2-5Qii123O2-X2Y2Z2111121311122330,,22000rrrQQrQr⎡⎤⎡⎤--⎢⎥⎢⎥⎢⎥⎢⎥⎡⎤⎢⎥⎢⎥⎢⎥===-⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥⎣⎦⎢⎥⎢⎥⎢⎥⎢⎥⎣⎦⎣⎦15()()()()()()()()()222221111111112222222222222222222333333333MQMQMQMQMQMQMQMQMQlMQXXYYZZlMQXXYYZZlMQXXYYZZ⎧=-=-+-+-⎪⎪=-=-+-+-⎨⎪⎪=-=-+-+-⎩2-62l1,l2,l3O2-X2Y2Z2O1-X1Y1Z1111222111122223333010001NOAPNOAPARTNOAP⎡⎤⎢⎥⎡⎤⎢⎥==⎢⎥⎢⎥⎣⎦⎢⎥⎣⎦3á1á2á3M1Q1M2Q2M3Q3O2liáii1232222121221122212121212222212232222332323232322221213211233131333cos3coscoscos2sinsin0333cos3coscoscos2sinsin0333cos3coscoscosrrllrlrlllllrrllrlrlllllrrllrlrlllaaaaaaaaaaaaaaaa-+++--+-=-+++--+-=-+++--+313132sinsin0llaa⎧⎪⎨⎪-=⎩2-7O1-X1Y1Z1O1O2-X2Y2Z2liái1112233222333112233(coscos/2cos/2)/33(coscos)/6(sinsinsin)/3plllpllplllaaaaaaaa=-++⎧⎪=-+⎨⎪=-++⎩2-82-42-521Aliái1211223312223313112233112222233131122331(2cos/3cos/6cos/6)/3(coscos)/(6)(4sinsinsin)/(3)(cos/2cos/2)/2(sinsin/2sin/2)/(3)nrlllrnllrnlllronorllrolllraaaaaaaaaaaaa=---⎧⎪=-⎪⎪=++⎪⎨=⎪⎪=--⎪⎪=-+⎩2-9a1a2a3ZO2-X2Y2Z2316123322133131221()()()anonoanonoanono=±-⎧⎪=±-⎨⎪=±-⎩2-102-82-92-10222111111122223333010001noapnoapARTnoap⎡⎤⎢⎥⎡⎤⎢⎥==⎢⎥⎢⎥⎣⎦⎢⎥⎣⎦1221211()()TAAA-==O2O1-X1Y1Z1112221RAR⎡⎤=-⎣⎦2.4ADAMS/VIEW173.1CAD/CAEADAMSADAMSStewartADAMSVIEW3.2ADAMSADAMS[11](AutomaticDynamicAnalysisofMechanicalSystems)MDI(MechanicalDynamicsInc.)ADAMSFordBMWNASAGMGECATABBADtranz1999ADAMS51%ADAMSADAMSADAMSADAMS/VIEW18ADAMS1234“”56789CADFEA ADAMS3.3ADAMS[12]ADAMS/VIEW41ADAMS/VIEWADAMS/VIEW19234ADAMS/VIEWADAMSADAMSADAMSADAMSobjecttypeSolidADAMS[13]50237mm313mm3-1Fig.3-1Structureoftherapyarm1502O1O2OO3O4R1R2R3R4L1L2L3O4XYZADAMS/VIEW2034a.R1R2R3R4O2BO3B1b.L1L2L33-1O1O4O2O3OL1L31LmaxLLO2OO3180O2O3BB13-22O2OOO31O2OO3180O2O3BB12O2O3BB1O2OOO33-2Fig.3-2TopviewofelbowmoduleO2O3Lmax/3-1/mmmmLmaxmm10/1230120237mm313mmL1L2L3L1237-60177mmL2120mmL331360253mmBB1ADAMS/VIEW21L1=177mmÄèè*è190O2O1O2010090R1R23-3Fig.3-3MechanismofforearmmoduleADAMS/VIEW3-4R1R23-4Fig.3-4Forearmmodule__________________________________*è1è1