磁流变阻尼假肢膝关节的参数设计与特性研究  

Parameter Design and Characteristic Research of Magnetorheological Damped Prosthesis Knee Joint

作　　者：刘旭辉 胡慧娜 方紫韵 徐彬 LIU Xu-hui;HU Hui-na;FANG Zi-yun;XU Bin(School 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：《机械设计与制造》2024年第5期161-165,172,共6页Machinery Design & Manufacture

基　　金：国家自然科学基金(51675345);上海市科委生物医药科技支撑专项项目(20s31905500);上海市科委地方高校能力建设项目(20090503000)。

摘　　要：设计了一种基于磁流变阻尼器的假肢膝关节,利用拉格朗日理论建立假磁流变阻尼肢膝关节的动力学模型。对设计的磁流变阻尼假肢膝关节进行参数化设计,采用ADAMS仿真软件对参数化后的假肢进行仿真,分析了不同路面条件下假肢的驱动力矩和磁流变阻尼器的阻尼力。结果显示:在摆动期,磁流变阻尼假肢的驱动力矩发生了显著的变化,需要较大的驱动力矩。在摆动阶段,磁流变阻尼器的阻尼力较大,相对于平地行走和上楼梯而言,磁流变阻尼器输出的阻尼力在下楼梯时更大。因此,基于磁流变阻尼器的假肢膝关节为后续研究奠定了一定的理论基础,通过一系列的参数化设计,使得磁流变阻尼假肢膝关节满足性能要求。In this paper,an artificial knee joint based on magnetorheological damper is designed,and the dynamic model of pseudorheological damping limb knee joint is established by Lagrange theory.Based on the parametric design of the knee joint of the magnetorheological damping prosthesis,the ADAMS simulation software is used to simulate the parameterized prosthesis,and the driving torque of the prosthesis and the damping force of the magnetorheological damper under different pavement condi-tions are analyzed.The results show that during the swing period,the driving torque of the magnetorheological damping prosthe-sis changes significantly,which requires a large driving torque.In the swing stage,the damping force of the magnetorheological damper is larger,and the damping force output by the magnetorheological damper is larger when that of the flat walking and the upper staircase.Therefore,the prosthetic knee joint based on magnetorheological damper lays a theoretical foundation for further research.Through a series of parameterized designs,the magnetorheological damping prosthetic knee joint meets the performance requirements.

关 键 词：磁流变阻尼器 磁流变阻尼假肢膝关节 动力学模型 参数化设计 ADAMS仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TH123