Design And Simulation On MDOF Robotic Prosthesis's Shoulder

This thesis mainly focuses on design and simulation of the MDOF Robotic Prosthesis's Shoulder, which is a product of the Robot Research Center in Shandong University of Science and Technology.The prosthesis has six degrees of freedom,that can basically mimic the action of live arm.This thesis optimize the structure of lateral shoulder drive, arm balance device, elbow balance device and elbow drive through fmincon algorithm in MATLAB,the optimal variable of the structure is determined, the kinematic mathematical model is established, design constraints and objective function is constructed,the installation structure of drive motor and balance support bar are fixed.The prosthesisis's three-dimension model and assembly drawing is completed by Solidworks, many mistakes are found in the process of two-dimensional design.Some important problems are summarized when the assembly model is devolved to the Cosmosmotion in Solidworks.The arm and elbow joints of MDOF Robotic Prosthesis are simulated,and the torque curve is output,general simulation of the MDOF Robotic Prosthesis is completed, that provide data support to choosing the drive motor and the balance support bar. The Solidworks API interface is re-developed, parametric simulation for the model of MDOF Robotic Prosthesis is completed.