救援后送机器人对人体的作用力分析和新型执行机构结构与运动综合
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摘要
本文以城市、丛林等地域军事行动和大型公共场所生化恐怖袭击、爆炸等突发公共卫生事件中对伤员实施救援所面临的卫勤保障难题为背景，研究救援后送机器人对人体的作用分析和新型执行机构结构与运动综合方法。全文取得了如下创造性成果：
(1)以分形理论为工具，研究了利用CT扫描影像准确建立人体脊柱有限元模型的快速建模方法。提出了一种考虑像素邻域特征的最佳阈值求解方法，该方法弥补了二维Otsu法在Mimics中的应用局限以及软件自身在分割阈值选取上的不足且建立的脊柱几何模型为灰度值模型，便于使用密度-CT数的弹性模量模型对骨组织材料进行非线性赋值，提高有限元模型的分析精度。
(2)运用接触分析理论，研究了人体脊柱有限元分析中关节接触面的处理与求解方法。较好地实现了关节互不侵入、关节接触力法向量只能是压力、关节切向量与摩擦系数密切相关等特征的仿真模拟。通过对典型救援工况下的人体脊柱受力的分析，揭示了人体脊柱各组成部分在不同操作条件下的应力变化规律和影响因素并提出了执行机构综合需注意的几个问题。
(3)突破现有执行机构对人体的作用方式，从人体零自由度实现条件出发，提出了一种以滑动担架为基础机构，以6-DOF操作臂为附加机构的新型执行机构构想。以自由度性质分析为基础，以速度雅可比行列式中不含折断点参数为评价指标，提出一种通用运动自由度解耦折叠操作臂构型与优选方法。
(4)运用旋量理论研究了6-DOF操作臂位置正、逆解的解析求解法与双臂主从映射关系，提出了一种能直接映射操作臂末端运动空间到关节空间的速度与加速度建模方法；以无量纲速度雅可比矩阵条件数倒数为性能评价指标，结合操作点各向同性条件，提出了一种操作臂结构参数优化方法。
本文研究成果对丰富和发展救援后送机器人对人体的作用力分析方法和执行机构综合理论，推进救援后送机器人的社会应用具有重要的理论意义和实用价值。
This dissertation presents a systematic package for the human stress analysis andstructure, kinematic synthesis of a novel handling mechanism for Rescue andEvacuation Robot to meet demand of reducing the human stress and avoiding thesecondary injury in the special events such as military operations and citybiochemical terrorist attacks, explosions and other public health emergencies. Thefollowing contributions have been made.
(1) A fast finite element modeling process for the human spine is presented byCT image segmentation and minimum-error thresholding method using the fractaltheory. This method makes up application limitation of the two-dimensional Otsumethod in the Mimics software and deficiency in the segmentation threshold selectionof the software itself, considering the pixel neighborhood characteristics. Accordingto the relationship of the CT Hounsfield value and Young’s modulus, the spinegeometry gray value model is established and the nonlinear material parameters of thebone tissue are acquired. These nonlinear material parameters are benefit to improvethe analytical accuracy of finite element model.
(2) The joint contact surface processing and solving methods of the human spinefinite element analysis are carried out by inserting script in the ANSYS based uponthe contact analysis theory. The methods are easy to solve the finite element contactinterface problem that caused by the unknown position and status and thetime-varying phenomenon. Through a systematic analysis of the typical rescueevacuation robot execution mechanism, the human spine stress rule and the influencefactors are revealed.
(3) Consideration of the realizing conditions from zero degree of freedom ofhuman body, a novel handing mechanism is proposed by treating sliding stretcher asbasic mechanism and dual6-DOF manipulators as auxiliary mechanism, thatbreakthrough the working principle of conventional handing mechanism. At the same time, a method for the structure synthesis of the kinematic decoupling and collapsible6-DOF manipulators having orthogonal joints is presented by freedom nature analysisand the nullity of the dimensional parameters caused by the point of the folding in thedeterminant of the Jacobian.
(4) The forward and inverse displacement, velocity and acceleration analysis ofthe dual6-DOF manipulators are carried out by screw theory. The dimensionaloptimization method is proposed by a dimensionless conditioning index representedby the characteristic length under Isotropic operating point. Finally, a kind of pathplanning method of generating zero velocity and zero acceleration in a finite intervalendpoints is study.
The results of this dissertation are useful for developing the rescue andevacuation robot to enhance the ability of medical service support in public healthemergencies and the capability of military forces.
(1)以分形理论为工具，研究了利用CT扫描影像准确建立人体脊柱有限元模型的快速建模方法。提出了一种考虑像素邻域特征的最佳阈值求解方法，该方法弥补了二维Otsu法在Mimics中的应用局限以及软件自身在分割阈值选取上的不足且建立的脊柱几何模型为灰度值模型，便于使用密度-CT数的弹性模量模型对骨组织材料进行非线性赋值，提高有限元模型的分析精度。
(2)运用接触分析理论，研究了人体脊柱有限元分析中关节接触面的处理与求解方法。较好地实现了关节互不侵入、关节接触力法向量只能是压力、关节切向量与摩擦系数密切相关等特征的仿真模拟。通过对典型救援工况下的人体脊柱受力的分析，揭示了人体脊柱各组成部分在不同操作条件下的应力变化规律和影响因素并提出了执行机构综合需注意的几个问题。
(3)突破现有执行机构对人体的作用方式，从人体零自由度实现条件出发，提出了一种以滑动担架为基础机构，以6-DOF操作臂为附加机构的新型执行机构构想。以自由度性质分析为基础，以速度雅可比行列式中不含折断点参数为评价指标，提出一种通用运动自由度解耦折叠操作臂构型与优选方法。
(4)运用旋量理论研究了6-DOF操作臂位置正、逆解的解析求解法与双臂主从映射关系，提出了一种能直接映射操作臂末端运动空间到关节空间的速度与加速度建模方法；以无量纲速度雅可比矩阵条件数倒数为性能评价指标，结合操作点各向同性条件，提出了一种操作臂结构参数优化方法。
本文研究成果对丰富和发展救援后送机器人对人体的作用力分析方法和执行机构综合理论，推进救援后送机器人的社会应用具有重要的理论意义和实用价值。
This dissertation presents a systematic package for the human stress analysis andstructure, kinematic synthesis of a novel handling mechanism for Rescue andEvacuation Robot to meet demand of reducing the human stress and avoiding thesecondary injury in the special events such as military operations and citybiochemical terrorist attacks, explosions and other public health emergencies. Thefollowing contributions have been made.
(1) A fast finite element modeling process for the human spine is presented byCT image segmentation and minimum-error thresholding method using the fractaltheory. This method makes up application limitation of the two-dimensional Otsumethod in the Mimics software and deficiency in the segmentation threshold selectionof the software itself, considering the pixel neighborhood characteristics. Accordingto the relationship of the CT Hounsfield value and Young’s modulus, the spinegeometry gray value model is established and the nonlinear material parameters of thebone tissue are acquired. These nonlinear material parameters are benefit to improvethe analytical accuracy of finite element model.
(2) The joint contact surface processing and solving methods of the human spinefinite element analysis are carried out by inserting script in the ANSYS based uponthe contact analysis theory. The methods are easy to solve the finite element contactinterface problem that caused by the unknown position and status and thetime-varying phenomenon. Through a systematic analysis of the typical rescueevacuation robot execution mechanism, the human spine stress rule and the influencefactors are revealed.
(3) Consideration of the realizing conditions from zero degree of freedom ofhuman body, a novel handing mechanism is proposed by treating sliding stretcher asbasic mechanism and dual6-DOF manipulators as auxiliary mechanism, thatbreakthrough the working principle of conventional handing mechanism. At the same time, a method for the structure synthesis of the kinematic decoupling and collapsible6-DOF manipulators having orthogonal joints is presented by freedom nature analysisand the nullity of the dimensional parameters caused by the point of the folding in thedeterminant of the Jacobian.
(4) The forward and inverse displacement, velocity and acceleration analysis ofthe dual6-DOF manipulators are carried out by screw theory. The dimensionaloptimization method is proposed by a dimensionless conditioning index representedby the characteristic length under Isotropic operating point. Finally, a kind of pathplanning method of generating zero velocity and zero acceleration in a finite intervalendpoints is study.
The results of this dissertation are useful for developing the rescue andevacuation robot to enhance the ability of medical service support in public healthemergencies and the capability of military forces.
引文
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