Simulation Of Artificial Limb Structure Design And Optimization Of Control System Under Intelligence

Due to the increasing number of disabled persons caused by traffic accidents,natural disasters,diseases or wars,the demand for prostheses has increased greatly,especially the intelligent prosthesis.In China,the technology is relatively backward and the price is high.Aiming at this problem,aiming at the coordination of motion,the beauty of gait and the adaptability to environment,this paper designs a lower limb structure based on knee ankle integration and multi power driving.It is performance is verified by theoretical calculation,statics simulation and kinematic simulation.The main research contents are as follows:By studying the structure of the human knee joint,it is found that the four bar structure is the most suitable for the realization of the motion function of the knee joint.The size of the four bar linkage is optimized.After optimization,the instantaneous center of the four bar structure is in line with the instantaneous center of the real knee joint movement.The YISHION axis of the ankle joint is achieved.The knee and ankle joint of intelligent prosthesis are driven by stepper motor and magnetic flux damping.As the main shock absorber and energy storage device for prosthetic motion,magnetic flow damping can not only play an auxiliary role in the movement of prosthetic limbs,but also increase the coordination of prosthetic movements and reduce the stiffness of motion.The static analysis of the roof of the intelligent prosthesis is carried out to get the stress and the total deformation cloud chart,and the structure is optimized according to the analysis results.Based on the theory of stress fatigue,the fatigue life curve is obtained from the fatigue analysis of the bottom frame of the intelligent prosthesis,and the optimization is made.The analysis of the motion gait of the artificial limb under the human body was analyzed,and the movement characteristics of each time phase were obtained.Based on the theory of knee and ankle integration,a structural model of the lower limbs is established,and the geometry theory is applied to analyze the motion models of the joints between the lower limbs.Through the research on the finite state machine control method,it is found that it is very suitable for the control of intelligent prosthesis,and has good control performance combined with knee ankle integration control.Based on the finite state machine and the integration theory,the intelligent artificial limb control model is established.The kinematics simulation function of UG is applied to the kinematics analysis of the intelligent prosthesis,and the motion animation of the human gait is obtained.Comparing the simulated human gait with the real human motion,we can judge the reasonable degree of the three-dimensional model and the control data,and get the angular velocity displacement curve and the damping length variation curve of each joint.The physical prototype is set up and the experimental platform is set up to optimize the data of the control function.The control data were adjusted according to the different gait of the human body to verify the performance of the artificial limb under the intelligent knee and ankle integration under different gait.In order to verify the rationality of the kinematic simulation model of prosthetic limbs and the kinematic simulation models based on UG,we measured the important data of each joint's damping length variation curve in the experiment.This paper has completed the overall design and optimization simulation of the intelligent prosthesis,which provides a theoretical reference for the integration and intelligent research and development of the intelligent prosthetic knee and ankle,and has practical application value.