双摇杆假肢膝关节的运动学与动力学分析  

Kinematics and Dynamics Analysis of Double Rocker Prosthetic Knee Joint

作　　者：刘旭辉 丁志娟 罗启文 简震 张远方 Liu Xuhui;Ding Zhijuan;Luo Qiwen;Jian Zhen;Zhang Yuanfang(Institute of Mechanical Engineering,Shanghai Institute of Technology,Shanghai 201418,China)

机构地区：[1]上海应用技术大学机械工程学院,上海201418

出　　处：《机械传动》2021年第3期134-139,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51675345);上海市自然科学基金(16ZR1435800)。

摘　　要：膝关节是人体正常运动的重要部位。为了满足下肢截肢患者恢复正常运动功能的需求,设计了一款双摇杆机构的假肢膝关节。首先,建立了下假肢的简化模型,通过对模型的运动学分析,获得了相关关节角度、角速度、角加速度等参数。通过动态静力分析法对双摇杆的各个杆件进行动力学分析,最终得到输出阻尼力与驱动力矩之间的平衡方程。通过Adams仿真分析,得到了高度相似的膝关节瞬心轨迹和踝关节轨迹运动曲线对比图。结果表明,设计的双摇杆假肢膝关节具有良好的稳定性与仿生性,能够满足截肢患者的运动需求。研究为双摇杆假肢膝关节整体的结构设计、加工和实时控制提供了理论依据。Knee joint is an important part of normal movements of human body.In order to meet the needs of lower limb amputees to restore normal motor function,a prosthetic knee joint with double rocker mechanism is designed.Firstly,a simplified model of the lower prosthesis is established,and the relevant parameters such as joint angle,angular velocity and angular acceleration are obtained through kinematic analysis of the model.The equilibrium equations between output damping force and driving torque were obtained through the dynamic static analysis method.The highly similar tracks and ankle motion knee instantaneous center curve contrast figure were obtained through Adams simulation analysis.The results indicate that this design of double rocker prosthetic knee joint has favorable stability and bionic performance,and can meet the demand of the movement of the amputee.It provides theoretical basis for the design,processing and real-time control of the whole structure of the double rocker prosthetic knee joint.

关 键 词：双摇杆机构 假肢膝关节 运动学 动力学 Adams仿真分析 

分 类 号：TH789[机械工程—仪器科学与技术]