Structure Design And Analysis Of Intelligent Upper Limb Prosthesis

In this paper,the intelligent upper limb prosthesis is designed and studied. The intelligent upper limb prosthesis can help people with disabilities,especially those with disabilities to achieve basic self-care. The utility model comprises a shoulder mechanism,a big arm,a small arm,a pneumatic balancing mechanism and a gripper mechanism,wherein the degree of freedom is 6,namely,the swing of the big arm,the rotation of the big arm,the bending of the elbow,the rotation of the small arm and the opening and closing of the hand. The utility model has the advantages of compact structure,no interference,no self lock,light weight,high efficiency,and greatly reduced driving torque.According to the theory of ergonomics,the ability of load and the requirement of working space,the whole structure of intelligent upper limb prosthesis and the movement and drive mode of each joint are designed. Through the theoretical calculation to obtain the required driving torque of each joint,the preliminary selection of the drive motors,3D model of prosthetic components with the help of SolidWorks software,the overall assembly of the prosthesis,and gives its quality parameters such as structure design,reasonableness check.Using MATLAB software,using the hybrid genetic algorithm,the prosthetic arm swinging heavy torque balance and torque balance elbow bend heavy optimization calculation,installation position and the gas obtained pneumatic balance mechanism of the thrust rod.According to the structure of intelligent prosthetic limb,using D-H method to establish the kinematics equation,obtain the positive solution of the motion equation,the effective working space of the prosthesis was analyzed by using Monte Carlo method,solving method and the development of a multi DOF prosthetic joint space parameters,and a method for realizing spatial location of random target multi DOF prosthetic.The use of ADAMS software,virtual prototype simulation of virtual prototype mechanical prosthetic arm swinging joint and elbow bending joint,joint output the required driving torque,with heavy torque balance,and provide a theoretical basis for the selection of steering gear.ANSYS software was used to analyze the key components of the prosthesis,and the stress strain nephogram and parameters were obtained.