基于抓握可靠性的肌电控制假手优化和动态性能研究  

Study of Optimization and Dynamic Performance for the Myoelectric Controlled Prosthetic Hand Based on the Grasping Reliability

作　　者：李晶[1] 邵忍平[1] 王伟[1] 黄欣娜[1] 

机构地区：[1]西北工业大学机电学院,西安710072

出　　处：《机械科学与技术》2014年第7期965-970,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(51275422);西北工业大学研究生创业种子基金项目(Z2013032)资助

摘　　要：针对肌电控制假手的结构特点,分析影响肌电控制假手抓握可靠性的因素。借助MSC/Nastran软件平台,建立该假手系统的有限元模型,以结构系统应变能最小作为优化的目标函数,以结构系统的体积和质量约束作为优化约束函数,对肌电控制假手进行结构拓扑优化。在此基础上分析研究其动力特性、力能耦合关系、以及在以传动系统动态响应作为外部冲击载荷作用下的瞬态响应。研究结果表明:优化后的肌电控制假手的振动冲击减小,反应时间缩短,抓握可靠性得到显著提高。For the structure feature of myoelectric controlled prosthetic hand （ MCPH）, the factors to impact the grasping ability of MCPH were analyzed. Based on the analysis results, the finite element model of the MCPH system was established using the MSC/Nastran software. Topology optimization for the MCPH structure was performed with the constraints of weight and volume of the structural system by using the minimum structural strainenergy as the objective function. Based on the optimization results, the dynamic characteristics, the force-energy coupling relationship and the transient response excited by an external shock loads transferred from the dynamic response of transmission system were analyzed. The results show that the shock, vibration and the reaction time of the optimized MCPH are reduced and the grasping reliability has been significantly improved.

关 键 词：肌电控制假手 结构优化 力能耦合 瞬态响应 动态特性 

分 类 号：TH113.2[机械工程—机械设计及理论]