Mechanical Design And Kinematics Analysis Of A New Kind Of7DOF Upper Limb Prosthetics

Myoelectric prosthetic arm is a kind mechanism which has the shape of men’s arms, itcan recreate the lost movement-function for the amputees. Since it has much morerequirements about the size and load of the prosthesis, it must be designed more ingeniouslythan the other industry machinery hands. This thesis presents a new kind of prosthetic armthat has7DOFs which can meet the requirements.(1)Introducing the current researching hotspot of this field both nationally andinternationally. Select the research direction of how to make the arm prosthesis lighter andmore intelligent.(2) The real human arm’s structure is analyzed, according to the structure of the bonesand muscles of human’s arm we have established the motion joints coordinate. We also makerequirements about the weight and joint angular velocity about the prosthetic arm.(3)According to the requirement to make the artificial limb more lightweight, wedetermined to apply differential mechanism to the prosthetic arm joint driving device. Weimproved the traditional differential mechanism structure and make it more compact, andthen we make the differential mechanism into a modular, so we can use this modular intomore joints.(4) In order to control the prosthetic arm more intelligently, we analyze the kinematics ofthe prosthesis. According to the structure of the prosthetic arm D-H coordinate system, wecompleted the prosthetic arm’s kinematics analysis, and as to the limb’s inverse kinematicsanalysis, this thesis puts forward the swivel angle optimization method. In this method thearm motion’s trajectory is more humanized. Finally we conducted an experiment which madethe prosthesis do the movements of drinking water. Experiment shows that the prosthesis hasthe fundamental daily life moving functions to help the amputees.