多中心膝关节机构的选型与优化

Selection and Optimization of Multicentre Extremity Knee-mechanism

根据人体下肢假肢膝关节的设计要求 ,选用一平面四杆机构作为多中心膝机构 ,利用机械原理的有关知识 ,对该机构进行运动分析 ,建立了该机构的数学模型 ;运用复合形法 ,在五维设计空间中求一组最优解 ,使目标函数要求膝机构瞬心坐标的实际值与理想值之差最小 ,即膝机构的实际瞬心曲线与理想的膝关节瞬心轨迹相一致 ,以证实所设计的膝关节机构能较好地满足设计要求。

According to the design requirements of the lower extremity knee mechanism of human body, a plain four bar mechanism is selected as a multicentre knee mechanism, and the knowledge concerning mechanical principles is used to analyze the movement of the mechanism Furthermore, a mathematical model for the mechanism is established , and the complex shape method is used to derive a group of the best solutions in a five dimensional design space, by which a minimal error between real value and ideal value of the instant center coordinate required by target function is achieved, that is the real instant center curve of the mechanism is consistent with the ideal centrode, so as to prove that the designed knee mechanism would meet the requirements of design better