摘要
针对当前假肢手功能单一、自由度少、实用性低等问题,提出了一种拟人化的四自由度假肢臂。结合正常人体参数和日常典型动作需求,假肢手臂设计为1-DOF肘关节和3-DOF腕关节。为满足假肢手臂体积小、重量轻的要求,提出采用逆差速结构进行腕关节的结构设计。建立了假肢的D-H参数模型,进行运动学分析以获得假肢手臂的工作空间。最后,实验验证了所设计的假肢臂能够完成典型的日常动作。该假肢臂的结构设计为后续假肢臂的研究提供了设计思路和参考依据。
Currently, the prosthetic hand has common disadvantages, such as single function, no-full DOF and low practicability. The humanized 4-DOF prosthetic arm was proposed to overcome the shortcomings above. Combined with normal body parameters, the prosthetic arm are designed with 1-DOF elbow and 3-DOF wrist joint. The inverse differential mechanism was designed in the wrist joint in order of satisfying small size and light weight. D-H parameter model of the prosthetic arm was established, and kinematics analysis was carried out to obtain the workspace of the prosthetic arm. Finally, experiments verified that it can perform typical daily operations. Structural design of the prosthetic arm provides the idea and reference for the following-up limb prosthesis research.
作者
夏子玉
李伟达
张虹淼
李娟
XIA Ziyu;LI Weida;ZHANG Hongmiao;LI Juan(School of Mechanical and Electric Engineering,Soochow University,Jiangsu ProvincialKey Laboratory of Advanced Robotics,Suzhou 215021,China)
出处
《机械与电子》
2019年第4期72-76,共5页
Machinery & Electronics
基金
国家"863计划"资助项目(2015AA042303)
国家自然科学基金项目(51475314)
江苏省自然科学基金面上项目(BK20161217)
关键词
假肢臂
运动学分析
逆差速结构
谐波减速器
prosthetic arm
kinematics analysis
inverse differential mechanism
harmonic drive
