| Summary: | 碩士 === 國立成功大學 === 機械工程學系碩博士班 === 98 === Upper limbs have very important functions on accomplishing many daily activities. In order to have better designs of the objects which are driven by upper limbs (such as wheelchairs, or exercise trainers, etc.) or those drive the upper limb (e.g. rehabilitation robots), the model of the upper limb should be developed and be integrated with those for the design and analysis of the objects, so as to have better investigation and evaluation of their characteristics.
The main purpose of this study is to develop models for the kinematic and static analyses of the upper extremity in wheelchair propulsion and rehabilitation robot training, with the assumption that the shoulders are kept fixed. Firstly, the skeleton and functions of the upper limb are introduced. Additionally, the degrees of freedom (DOF) and ranges of motion of joints are stated. Based on treating the upper extremity from the shoulder joint to the wrist joint as a spatial SUU kinematic chain, the spatial RUUS mechanism, which has 2 DOF, is used to simulate an upper limb propelling one side of a wheelchair; furthermore, a spatial FUS mechanism is adopted as the model of the wrist operating a rehabilitation robot with linear orbits. Their kinematic analysis models are developed. Except their analytical position solutions are derived, they are also checked with those gotten by using numerical techniques. Consequently, the models for the static analysis of the mechanisms are also built. Furthermore, wheelchair propulsion and rehabilitation robot training are adopted as the examples to demonstrate the usages of the models developed and to show the results of the analyses. Based on the models of the kinematic and static force analyses of the RUUS mechanism, a model for using optimization techniques to determine the relations between 2 DOF of the mechanism is built in order to get reasonable postures of the upper extremity in wheelchair propulsion. Except necessary constraints considering the requirements of simulating an upper limb propelling a wheelchair, three reasonable objective functions are applied, and then the kinematics and torques of the joints can be determined.
The results of this study provide a base for developing musculo-skeletal models of upper limbs. If they can be integrated with the design and analysis models of medical instruments, body-fitness trainers, hand tools, etc., it should be helpful to develop better products of theirs.
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