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Design and Simulation on MDOF Robotic Prosthesis’s Shoulder

Author: ZouJiXiang
Tutor: FanBingHui
School: Shandong University of Science and Technology
Course: Mechanical Manufacturing and Automation
Keywords: Robot -type prostheses MATLAB Fmincon SolidWorks COSMOSMotion API COSMOSWorks Parametric Simulation
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 21
Quote: 0
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Abstract


In this thesis, Robotics Center of Shandong University of Science and Technology developed the shoulder from a broken robot type prosthesis design and simulation research . The prosthetic has six degrees of freedom , the basic realization of the real arm movements imitate . The use fmincon optimization algorithm driven on to the big arm swing , big arm balance , elbow the drive and elbow balance institutions optimization calculations , determine to be the structural design optimization variables and establish the structure of the movement mathematical model in MATLAB constructed constraints and objective function of the structural design , and ultimately determine the structure of the installation of the drive motor and pneumatic strut . SolidWorks the prosthetic model three-dimensional modeling and assembly , and the errors in the two-dimensional design is intuitive and easy to find . Summed up the problem should be noted that the assembly model in SolidWorks to COSMOSMotion robot -type prosthetic shoulder and elbow joint motion simulation and output torque curve , six degrees of freedom of the prosthetic joint simulation -driven motor and pneumatic strut selected to provide the necessary data to support the use of COSMOSWorks dynamic mechanical analysis of the support rod . VB language and SolidWorks secondary development of SolidWorks API interface , parameterized model of the robot -type prosthetic simulation .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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