人工髋关节仿生试验装备动态特性及系统稳定性研究

Artificial joint is one kind of important replacement organs in human body. It can replace the lesion or damage joint and restore the function. The friction and wear characteristics of artificial joint materials have great effect on the reliability and functionality of artificial joint. China is a country with a large population and the proportion of the elderly population is increasing. With the continuous increase of artificial joint market, the development of the friction and wear test equipment of artificial joint material, which is suit for the anatomical features and behavioral characteristics of Chinese joint during daily activities, has become very urgent. Based on the study on the existing parallel bionic hip joint test equipment, this project seeks to establish a kinematics and kinetics parameter reference database according to the Chinese typical motions during daily activities. The integrated modeling system of real mechanism of the parallel bionic hip joint test equipment will be established based on the finite element analysis method. By studying the key technologies of this parallel bionic hip joint test equipment, such as vibration control, friction compensation and stability analysis, the ability to dynamically simulate kinematics and kinetics properties of Chinese hip joint will be ensured. The parallel bionic hip joint test equipment will be improved and perfected, and experimental studies to validate various studied technologies will be performed. The research results can provide a theoretical and experimental basis to optimize, enhance and develop comprehensive performance and help the application in the engineering of the parallel bionic hip test equipment with independent intellectual property rights.

人工关节是一类重要的人体替换器官，能代替病变或损伤的关节并恢复其功能，其材料的摩擦磨损特性对关节可靠性及功能性有很大影响。中国人口众多，随着高龄人群比例的增大，人工关节市场开始不断增长，研制具有中国人髋关节解剖特点和日常生活行为特征的人工关节材料摩擦磨损试验装备变得愈发迫切。本项目试图在现有并联髋关节试验装备的研究基础上，针对中国人各种典型日常运动，构建具有中国人特征的髋关节运动及力学参数数据库；在基于有限元分析方法建立并联仿生髋关节试验装备真实机构一体化建模体系的基础上，通过对试验装备的振动控制、摩擦补偿及运动稳定性分析等关键技术基础的研究，确保其具有动态模拟中国人髋关节运动及力学特性的能力；改进并完善此并联仿生髋关节试验装备，且在其上进行所研究各技术基础的实验验证研究。研究成果可为具有自主知识产权的并联仿生髋关节试验装备综合性能优化、提升、开发及在工程中的应用奠定理论及实验基础。

人工髋关节的研制过程中需要进行大量摩擦磨损特性评价实验，而实验结果与实验装备和实验条件息息相关，另一方面，随着中国人口老龄化的加剧，人工关节市场不断增长，因此，研制能够真实反映人体髋关节运动及力学性能、符合中国人行为特征的髋关节试验装备变得愈发迫切。本项目围绕3SPS+1PS并联仿生髋关节试验装备及2(3HUS+S)并联仿生髋关节试验装备，进行了相关基础的理论及实验研究。为使并联仿生髋关节试验装备能够更好地模拟中国人髋关节的运动及力学性能，对中国人日常运动时髋关节的生物运动特性进行了测试分析，构建了具有中国人特征的髋关节典型运动及力学参数数据库；通过综合刚体有限元、柔性有限元及时空有限元的性质，建立了以有限元理论为基础的并联仿生髋关节试验装备参数一体化理论体系，实现了并联机构理论中线性问题与非线性问题在理论层面的统一，并对并联仿生髋关节试验装备的运动特性、刚度及动态特性等进行了研究；考虑并联仿生髋关节试验装备的结构变形、振动等扰动因素，建立了动态响应预测模型，研究了致动器和传感器的分布策略，构建了模型预测控制架构，并通过试验装备进行了测试验证；为了提高并联仿生髋关节试验装备的动态稳定性，构建了质点系运动和力的空间分布曲面与解析方程，研究了奇异位置处质点系的运动分布规律，提出了规避运动奇异性的轨迹规划策略；为了降低运动副摩擦对并联仿生髋关节试验装备运动控制性能的影响，建立了考虑摩擦的整机动力学模型，基于摩擦的时变特性影响研究了摩擦参数的辨识方法，并结合并联机构动力学控制方法设计了试验装备的摩擦补偿控制策略。通过对并联仿生髋关节试验装备相关基础的理论及实验研究，改善了试验装备的工作性能，真实反映了中国人髋关节的运动及力学性能，为具有自主知识产权的并联仿生髋关节试验装备在工程中应用奠定了理论基础。