康复用多自由度假肢大臂外摆机构的优化设计

Optimization design on multi DOF lateral swing structure of robotic prosthesis's arm for rehibilitation

康复用6自由度机器人型假肢的大臂外摆机构采用直线电机驱动。为得到其合理的安装结构形式,在充分考虑安装空间,传动效率以及假肢大臂的重量和运动范围等多方面因素前提下,采用了优化设计方法。建立起结构的运动数学模型,确定了设计变量,设计约束以及其目标函数,然后编制了MATLAB优化程序,采用最优化理论中的复合型算法求得本结构的综合最优解。最后根据优化结果编制了仿真程序,输出了运动仿真图形,证明了设计的合理性。

Lateral swinging structure of a robotic prosthetic＇s arm with 6 degree of freedom used for rehabilitation is driven by a linear motor.In order to get its reasonable installing structure,the optimization design method is adopted,after fully considering the premise of the installing space,transferring efficiency,prosthetic＇s weight,range of motion and other factors.A motion mathematical model of the structure is es-tablished,and design variables,constraints and objective function are determined,then MATLAB optimiza-tion program is scheduled.Aided by the complex method of optimization arithmetic,a general optimization result is obtained.Finally,on the basis of the optimization results,the simulation program is scheduled and motion simulation graphics is outputted,which rationality of the design is proven.