Mechanical Structure Design And Key Technology Research Of Robot Prosthesis

With the rapid development of science and technology,the application of robot technology in the field of daily life is increasing,which greatly facilitates human life.Based on the concept of assisting the daily life of disabled people with upper limbs,in this thesis applies robot technology to the field of prosthetics on the human body,and analyzes and studies robotic prostheses with the goal of economicalization,light weight and high performance.Based on the concept of bionics,according to the functional requirements of the human upper limb,the shoulder joint,elbow joint and wrist joint of the robot prosthesis are designed,the driving scheme of the robot prosthesis is determined,and the type selection calculation of the motor is carried out;In view of the current market prosthesis,most of the metal materials are used as the prosthesis making materials,and there is a general quality based on 3D printing technology,PLA with good plasticity and environmental protection is selected as the material of robot prosthesis,the problem of excessive weight of prosthesis is solved;The key parts of robot prosthesis are made and assembled by 3D printing instrument,and a set of physical prototype of robot prosthesis is made.Based on the nonlinear programming genetic algorithm,the weight moment balance device of the shoulder and elbow joints of the robot prosthesis is optimized,and its structural parameters and optimal installation position are determined.On this basis,the simulation analysis of the two-dimensional motion,weight moment and residual moment of the big arm and small arm of the robot prosthesis is carried out,and the corresponding simulation graphics are obtained,therefore,it is verified that the gravity moment balancing device can greatly balance the gravity of the big arm and the small arm.The D-H model of the robot prosthesis is established,and the forward kinematics of the robot prosthesis is analyzed.Based on the MATLAB robot toolbox,the 3D simulation model of the robot prosthesis is established to simulate the joint movement,and the curves of the joint angle,angular velocity and angular acceleration are obtained,and the workspace of the robot prosthesis is solved.The joint angle of the robot prosthesis is formed by using the forward movement of the robot prosthesis Based on the BP neural network algorithm and the improved GRNN algorithm,the data of degree and pose parameters are trained to generate corresponding models respectively,and the errors are compared with the expected spatial data of robot prosthesis.It is concluded that the data errors of the inverse kinematics model of robot prosthesis trained by the improved GRNN algorithm are far less than those of BP neural network The network of robot artificial limb inverse kinematics model trained by the network algorithm is determined to use the improved generalized regression neural network algorithm machine to solve and analyze the robot artificial limb inverse kinematics.Based on Lagrangian mechanics,the dynamic model of robot prosthesis is established,and a virtual prototype model of robot prosthesis is established based on ADAMS.The dynamic simulation of robot prosthesis under six motion modes is carried out,and the driving torque curves of each joint under each motion mode are obtained,and the motion trajectory under six motion modes is further generated,which is the next motion control system.The research of this paper provides theoretical support and verifies the rationality,reliability and safety of the robot prosthesis structure.