Design And Motion Analysis Of Bionic Forearm Mechanism Based On Mechanical Characteristics Of Human Upper Limb Skeletal Muscle

Persons with disabilities are the largest minority.From ancient times to the present,millions of people have had their limbs amputated as a result of war,disease,work-related injuries,traffic accidents and accidental injuries.Especially in recent years,with the rapid development of industry and transportation,this number is increasing at an alarming rate.In the past 10 years,China’s total population has continued to grow,but the population is aging,and in2020,the total number of elderly people aged 60 and above in mainland China will be 264 million,accounting for 18.7% of the total population.The number of persons with disabilities will continue to increase due to factors such as the accelerating ageing of the population.There are 85.02 million disabled persons in China,of which 24.12 million are physically disabled,accounting for about 25% of the total number of disabled persons.At present,the number of people equipped with prostheses accounts for only 40% of the total number of amputees,and the reason why more than half of amputees have not yet worn prostheses is mainly due to the large weight of existing prosthetic products;Poor bionic performance,difficult to achieve the degree of cooperation between natural limbs and people;Imported prostheses are expensive and difficult for ordinary families to afford.Therefore,this paper designs a bionic forearm mechanism according to the needs of large arm amputation patients and combined with bionics,and the main research content is as follows:Bionic forearm mechanism structure design.According to the work requirements,starting from the physiological structure of human forearm and the mechanical characteristics of skeletal muscle,a bionic forearm mechanism with four degrees of freedom is designed,and the three-dimensional model of the mechanism is established by using Solid Works software,and the parts of the mechanism are selected and designed.Bionic forearm mechanism static design.Based on Ansys software,the static analysis of the whole mechanism is carried out,and the stress-strain cloud and parameters are obtained,so as to test the reliability of the mechanism under the working state and analyze it in mode to avoid the resonance between the mechanism and the power unit.Bionic forearm mechanism Kinematics and kinetic analysis.The mechanism kinematics model is established by the D-H method,and the forward and inverse kinematics are solved,and the solution of the inverse kinematics is verified by the robot toolbox in Matlab software.The dynamic model is established with the Newton-Euler formula,and the dynamic solution is carried out using Matlab software.Bionic forearm mechanism Kinematics and dynamics simulation.Based on ADAMS software,the mechanism is required to work,and kinematics simulation is carried out to output the rotation angle,angular velocity and angular acceleration of each joint of the mechanism.Based on ADAMS,the dynamic simulation of the mechanism is carried out,and the torque of each joint is output.