1、人体上肢康复训练装置的设计摘要根据最新的世界人口调查数据显示，老年人口占人口比例不断增加。威胁老年人健康的疾病脑卒中发病率也在不断增加。患脑卒中的患者常会因其而导致上肢偏瘫或出现人体肢体运动的一些功能障碍。人体上肢运动不便不仅给患者的身体和心灵造成了巨大压力而且给患者家庭以及社会也会因此受到巨大的影响。近年来全球科技与经济的不断向前发展，各国的科学家将运用在工业上的机器人技术同康复医疗技术进行有机结合，研发出各种不同功能度的上肢康复训练机器人，其通过牵引辅助患者患肢进行各种不同形式的康复训练，这为患者提供了新的治疗途径且提高了患肢的康复效率，降低了医护人员的工作强度，社会上对该装置的需求日益增
2、长。在人类的日常生活中各种比较难于完成动作往往是通过人体上肢实现，因此当人体上肢功能受损时，我们应该及时进行康复治疗。在过去的研究中对于人体手部的康复已有比较完善的训练装置，因此本课题的研究对象主要集中于人体上肢但手部除外。通过查阅资料发现已有的人体上肢康复训练装置多数存在训练功能少并且机械结构较复杂。因此本课题通过分析计算设计出一款与人体上肢功能相适应的外骨骼式上肢康复训练装置，该装置的执行部分可以直接穿戴在患肢上，用来辅助患者实现患肢肩关节的前屈/后伸、外展/内收、旋内/旋外3自由度、肘关处屈/伸1自由度、腕关节的背屈/掌屈、桡屈/尺屈2个自度及前臂的旋内/旋外，共7个自由度的上肢康复运动
3、。首先，本论文通过查阅国内及国外的一些在上肢康复训练装置方面相关论文，并分析总结出查阅论文中所研究装置具有的功能特点和其存在的一些功能缺陷，由此确定了本课题的研究目的及设计目标。其次本论文从医学的角度进行研究分析人体上肢的组成结构和其功能特点，并结合人机工程学的相关知识，概括出该课题所研发训练装置的设计要求。再次，通过其设计要求明确了该装置的机械结构、驱动、控制、传动方案及传动零件的选择与设计。最后，采用Solidworks三维建模软件对上肢训练装置各个部分进行三维模型及装置动画的制作。其中详细介绍了构建的康复臂模型与机架模型。接着利用ANSYS软件对康复装置关键零部件进行分析，并检验其设计的
4、合理性。关键词：上肢；康复训练装置；三维建模；ANSYS仿真-45-Design of Human Upper Limb Rehabilitation Training DeviceABSTRACTAccording to the latest world Population survey, the proportion of the elderly population is increasing. The disease that threatens the health of the elderly, is also on the rise. Stroke patients often
5、 because of its upper limb hemiplegia or appear some of the body limb movement dysfunction. The inconvenience of upper limb movement not only causes great pressure to the body and mind of the patients but also greatly affects the families and society of the patients. In recent years the development
6、of the global technology and economy, scientists of all countries will use in the industrial robot technology combine with rehabilitation medical technology, developed a variety of different functions of upper limb rehabilitation training robot, its various forms through the traction assist patients
7、 with limb rehabilitation training, and provides a new treatment for the patients and improve the efficiency of the limb rehabilitation, reduce the work intensity of the medical staff, social demand for this device is growing.In the daily life of human beings, all kinds of difficult to complete the
8、movement is often achieved through the human upper limbs, so when the function of the human upper limbs is damaged, we should be timely rehabilitation treatment. In the past studies, there have been relatively perfect training devices for the rehabilitation of human hands. Therefore, the research ob
9、ject of this topic mainly focuses on the human upper limbs, except the hands. Through consulting materials, it is found that most of the existing human upper limb rehabilitation training devices have few training functions and complex mechanical structures. So this topic through the analysis and cal
10、culation and designed a suit human upper limb function of exoskeleton type upper limb rehabilitation training device, the device can directly perform part of the wear on the limb, used for the patients with limb after shoulder forward bends/stretch, outreach/adduction, spin/spin within three degrees
11、 of freedom, elbow flexion/extension 1 degrees of freedom, wrist joint dorsiflexion flexion/palm flexion, radial flexor/feet/within 2 since the degrees and forearm rotation screw, a total of seven dof arm rehabilitation exercise.First of all, this paper, by referring to some domestic and foreign pap
12、ers related to the rehabilitation training device for upper limbs, analyzes and summarizes the functional characteristics and some functional defects of the device studied in the paper, thus determining the research purpose and design objectives of this subject.Secondly, this paper studies and analy
13、zes the composition and functional characteristics of human upper limbs from the perspective of medicine, and summarizes the design requirements of the training device developed by this subject in combination with the relevant knowledge of ergonomics.Thirdly, the mechanical structure, drive, control
14、, transmission scheme and the selection and design of transmission parts of the device are clarified through its design requirements.Finally, Solidworks 3d modeling software is used to carry out 3D models of each part of the upper limb training device.The rehabilitation arm model and rack model are
15、introduced in detail. Then, ANSYS software is used to analyze the key parts of the rehabilitation device and verify the rationality of its design.Key Words: Upper limb；Rehabilitation training device；3D modeling; The ANSYS simulation目 录摘要IABSTRACTII第1章 绪论11.1 课题研究背景和意义11.1.1 研究背景11.1.2研究意义21.2 国内外研究现
16、状21.2.1 国外研究现状21.2.2 国内研究现状41.3 现状分析及待解决问题51.4 课题研究内容6第2章 康复装置的设计原理、流程及要求82.1 人体上肢分析82.1.1 上肢结构分析82.1.2 上肢运动分析92.2 康复装置的设计原理、流程及要求112.2.1 设计原理及流程112.2.2 设计要求12第3章 康复装置机械结构驱动、控制方案的设计133.1 康复装置机械结构的设计133.2 康复装置驱动方案的选择与设计163.3 康复装置控制方案的研究与设计173.4康复训练装置控制电路的设计173.4.1康复装置肩关节控制电路的设计173.4.2康复装置肘关节控制电路的设计183.4.3康复装置腕关节控制电路的设计193.5 康复装置几何参数的确定20第4章 传动机构与驱动零件的设计与选型22
