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基于偏置输出3-RRR+(S-P)球面并联机构的仿生髋关节 被引量:4
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作者 杨亚敬 孙通帅 周玉林 《中国机械工程》 EI CAS CSCD 北大核心 2016年第11期1421-1428,共8页
首先以偏置输出的3-RRR+(S-P)仿生关节机构为原型机构,依据仿生原则并参照人体股骨结构,确定关节机构的偏置角。然后,提出关节机构工作空间与人体髋关节运动空间相协调的设计原则,进而确定关节机构的安装定位角度,完成人形机器人髋关节... 首先以偏置输出的3-RRR+(S-P)仿生关节机构为原型机构,依据仿生原则并参照人体股骨结构,确定关节机构的偏置角。然后,提出关节机构工作空间与人体髋关节运动空间相协调的设计原则,进而确定关节机构的安装定位角度,完成人形机器人髋关节设计;建立仿生关节空间与机构空间的映射关系,并对该髋关节的运动学正反解进行求解。最后,通过数值计算证明关节机构可实现人体基本运动,同时使用Xsens Technologies公司的可穿戴式完全无线3D身体惯性跟踪仪及磁性运动跟踪器,采集人体髋关节在实际运动状态下的位姿信息,将获取信息经映射关系转换和反解变换,导入ADAMS模型中进行校验,进一步验证了建立的映射关系、安装定位角度及正反解的正确性。 展开更多
关键词 偏置输出 仿生学 髋关节球面 并联机构
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非球面人工髋关节接触力学 被引量:3
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作者 程倩 王慧妍 +2 位作者 田波 赵三星 王凤才 《医用生物力学》 EI CAS CSCD 北大核心 2012年第5期534-541,共8页
目的由于受制造技术的局限性、可能的设计优化考虑以及临床应用的磨损等因素影响,人工髋关节轴承表面表现为非球面几何特征,可以利用有限元分析方法对非球面人工髋关节的接触力学行为进行研究。方法对球面网格数据模型进行非球关节面重... 目的由于受制造技术的局限性、可能的设计优化考虑以及临床应用的磨损等因素影响,人工髋关节轴承表面表现为非球面几何特征,可以利用有限元分析方法对非球面人工髋关节的接触力学行为进行研究。方法对球面网格数据模型进行非球关节面重建,研究不同取向椭球面股骨头对球面髋臼几何特征的非球面金属对金属人工髋关节的接触力学表现。结果非球面股骨头接触区域中心位置的平均曲率半径在一定范围内增大时,能有效降低相应关节接触面上的最大接触压力,同时接触面积有所增加;在同样载荷下,髋臼相对股骨头不同倾斜状态对非球面股骨头的接触压力峰值和面积影响较小,但压力分布有所不同。结论良好地控制人工髋关节的非球表面特征,有利于改善人工髋关节最大接触压力幅值大小和接触区域分布。所发展的非球面人工髋关节接触模型及数值模拟过程能够有效地运行,这为非球面关节动态接触及磨损预测问题研究提供了条件。 展开更多
关键词 球面人工髋关节 接触力学 边缘接触 压力分布 有限元分析
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A Novel Engineering Spherical Bearing, with Potential Application for a Hip Implant
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作者 Virgil Florescu Lucian Capitanu +1 位作者 Liliana-Laura Badita Viviana Filip 《Journal of Mechanics Engineering and Automation》 2016年第5期217-226,共10页
It is a research which could enter into contradiction with the current trend concerning the hip implants. It is known as sliding friction, which is characteristic of present artificial hip joints, is higher than in th... It is a research which could enter into contradiction with the current trend concerning the hip implants. It is known as sliding friction, which is characteristic of present artificial hip joints, is higher than in the case of rolling friction. The paper reports the studies of the functioning mode of a novel spherical bearing MoM (metal on metal) with rolling friction, with potential application for an artificial hip joint obtained by introducing a number of balls between the femoral head and the acetabular cup. After over 15 years of research upon the functional principle and constructive solution, a version that offered a coefficient of minimum friction in the hip joint came to light. This version was based on a constructive solution of motion with lower friction, "Omnitrack~ movement solutions", which has been modified and rebuilt to be used as a joint of a total hip prosthesis--MOMJ. The joint was built entirely in stainless steel, SS316L medical grade. Tests have been carried out on the experimental laboratory devices that showed very low values of the coefficient of friction (μ = 0.0225). For validation, the prosthesis had to be put through tests for 500,000 cycles, in terms of physiological motion and dynamic loading, according to ISO 14242-3. Testing was conducted on a multiaxial dynamics machine, MTS Bionix, equipped with system for hip implant testing. The testing results of this total hip prosthesis with rolling friction have been successful in signing up for a friction moment of 0.525 kNmm which means a coefficient of friction la = 0.0143, for a joint with femoral head diameter 28 mm. 展开更多
关键词 Spherical joint total hip prosthesis rolling friction BALLS femoral head surface wear Omnitrack movement solutions laboratory testing.
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