مهندسی مکانیک مدرس

مهندسی مکانیک مدرس

طراحی سیستم کابلی برای راندن انگشتان اگزواسکلتون در حوزه توان‌بخشی

نوع مقاله : پژوهشی اصیل

نویسندگان
دانشکده مهندسی مکانیک، دانشگاه علم‌ و‌ صنعت ایران، تهران، ایران
چکیده
دست‌ رباتیکی انسان‌نما به‌دلیل گستره‌ کاربرد از جمله‌ اکتشافات فضایی، پزشکی، نظامی و غیره همواره یکی از موضوعات مورد علاقه محققان در چند دهه‌ اخیر بوده است. این مقاله در زمینه‌ طراحی مکانیزم راندن انگشتان پنجه‌های رباتیکی و همچنین انگشتان اگزواسکلتون طرح‌ریزی و به‌گونه‌ای طراحی شده است که علاوه بر سبک و قابل حمل‌بودن بتواند حرکاتی مشابه انگشت دست انسان را انجام دهد. در این راستا، مطالعه‌ای روی آناتومی انگشت دست انسان بالغ و سینماتیک آن قبل از توضیح و اجرای طرح پیشنهادی انجام گرفته است تا به‌وسیله‌ آن روابط موجود بین بندهای دیستال، میانی و پروگزیمال انگشت دست استخراج شود. در گام بعد، تئوری و روابط ریاضی حاکم بر محل استقرار غلاف‌ها و تاثیر آن روی زاویه‌ خمشی مفاصل براساس مکانیزم کوپل‌کننده ارایه و بیان شده است. در مرحله‌ی بعد، با توجه به توابع به‌دست‌آمده در بخش سینماتیک و روابط ریاضی سیستم کوپل‌کننده یک مدلی از انگشت رباتیکی با خصوصیات مطرح‌شده در نرم‌افزار آدامز مدل‌سازی شده است. در گام بعد پس از لینک‌کردن این نرم‌افزار با نرم‌افزار متلب نتیجه‌ حاصل از روابط موجود بین مفاصل انگشت شبیه‌سازی‌شده استخراج و بحث شده است. در گام آخر با توجه به نتایج شبیه‌سازی نمونه‌ای با استفاده از پرینتر سه‌بُعدی مطابق با مکانیزم پیشنهادی ساخته و ارایه شده است.
کلیدواژه‌ها

موضوعات


عنوان مقاله English

Design New Cable System to Drive Exoskeleton Fingers for Rehabilitation

نویسندگان English

S.H. Heidary
B. Beigzadeh
Mechanical Engineering School, Iran University of Science and Technology, Tehran, Iran
چکیده English

Anthropomorphic robotic hand has always been one of the interesting topics for researchers in recent decades due to its application range, including space exploration, medicine, military, etc. In this paper, a new plan is designed to drive exoskeleton fingers and by means of which the fingers can not only mimic human-like movements, but also be lightweight and portable. In this way, before implementation of the new plan, the anatomy of index finger and related kinematic were studied to give a hand to the extraction of angle relationships among distal, middle, and proximal phalanges. In upcoming step, theories, and mathematical relations about replacing sheaths and its influence on bending joints, based on the coupling mechanisms, were explained and applied clearly. Additionally, considering extracted relationships and equations in prior section, a new model of robotic finger with mentioned properties was simulated in MSC ADAMS software. In following step, after linking the software with Matlab, the results of the simulation and comparing them with human finger in the configuration and generation of humanoid movements were discussed. In the last step, according to simulation results, an example was constructed and presented, using a 3D printer in accordance with the proposed mechanism.

کلیدواژه‌ها English

Exoskeleton
Coupling Mechanism
Tendon
Sheath
MSC ADAMS Software
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