髋关节试验机四自由度并联模块运动学与动力学特性分析  

Kinematics and Dynamics Analysis of 4-DOF Parallel Module of Hip Joint Testing Machine

作　　者：成钰龙[1] 程刚[1] 贾丹[2] 张峰[3] 

机构地区：[1]中国矿业大学机电工程学院,江苏徐州221008 [2]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001 [3]中国矿业大学应用技术学院,江苏徐州221008

出　　处：《机械传动》2011年第8期59-62,共4页Journal of Mechanical Transmission

基　　金：国家自然科学基金(50905180;51005234)

摘　　要：由于人工髋关节材料摩擦磨损特性检测结果的准确程度与试验设备运动准确性有关,选用3SPS+1PS并联机构作为试验机髋关节仿生模块的核心部分。通过Pro/E与ADAMS联合对此类并联机构进行建模,然后根据正常人体髋关节的生物运动及力学特性,在ADAMS中对其进行运动学、动力学仿真模拟。通过仿真结果得知:各支链的主要运动集中在并联机构的Z方向上;支链r2的运动曲线最为复杂,其位移、速度、加速度的幅值相对来说最小;r1运动曲线幅值最大。机构承受的外力主要作用在支链r0和球副r01的Z方向。分析结果为此类并联机构的机械结构、误差灵敏度分析及相应控制系统的下一步设计奠定基础。The accuracy of the test results of friction and wear characteristics of artificial hip joint materials is decided by the accurate movement of test equipment.Due to that,3SPS ＋1PS parallel mechanism is selected as the core of the parallel module of bionic hip simulator.The solid model is established by using Pro/E and ADAMS.According to the bionic features of kinematic and dynamic characteristics of normal human hip,we can run their kinematic and dynamic simulation in ADAMS.Then it is concluded that the main movements of every limb of the parallel mechanism lie in the Z direction.The curve of r2 is the most complex,but its displacement,velocity,acceleration amplitude is relatively minimal.The displacement curve of r1 is the largest.From the force curve of constraint joints,it is found that the major forces in the parallel mechanism resulted by the external force lie in the Z-direction of r0 and r01.The simulation results lay the foundation for analyzing of error sensitivity of structure,designing corresponding control system and the parallel mechanical structure.

关 键 词：髋关节仿生 并联机构 运动学分析 动力学分析 

分 类 号：TH789[机械工程—仪器科学与技术]