肩离断多自由度机器人型假肢肩部气动 平衡机构的优化设计

MDOF robotic shoulder disarticulation prosthesis have 6 degrees of freedom.The swingout joint of this prosthesis set by the linear motor drive. To avoid interference and reduce the driving torque,we adopt a structure of pneumatic support bar which can balance weight torque of arm joint.We design the balance strcture of pneumatic support bar , determine the optimal variable of structure design,establish the kinematic mathematical model, construct design constraints and objective function.We get the comprehensive optimal solutions through the method of interval-constrained optimization algorithms. Finally we export the optimization design calculation results and its output kinematic simulation graphics.