新型假肢膝关节的设计与仿真研究  

Design and Simulation of a New Prosthetic Knee Joint

作　　者：吴波[1] 陈照波[1] 程明[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001

出　　处：《机械设计与制造》2015年第6期5-8,共4页Machinery Design & Manufacture

摘　　要：假肢膝关节是假肢最重要的结构,对假肢性能具有至关重要的影响。从仿生性角度出发,提出一种新型假肢膝关节结构。以踝关节轨迹作为步态评判标准,建立机构的运动学模型。论述模型结构的优化原则、目标函数以及约束条件,运用LINGO软件编程对模型中的尺寸参数进行优化。将优化后的结构模型运用ADAMS进行仿真分析,验证模型及优化的正确性。仿真结果表明,运用设计的新型假肢膝关节的假肢能够较好地模拟正常人行走的踝关节轨迹,具有较好的行走步态。Prosthetic knee is the most important structure of the prosthesis and it has a very important influence on the performance of the prosthesis. Proceed from the bionics ,a new structure of prosthetic knee is designed.The kinematics model of the institution is proposed based on the gait of the ankle joint track. Then,the principle of optimization,objectivefunction and constraint conditions are discussed and the parameters of the model is optimized using LINGO. At last the simulation analysis using ADAMS is used to verify the correctness of the model and optimizatior The results indicate that prosthesis using the knee joint designed here can well simulate normal ankle joint track and has a relatively good walking gait.

关 键 词：假肢膝关节 仿生性 踝关节轨迹 步态 优化 仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TP11[自动化与计算机技术—控制理论与控制工程]