机械外骨骼，一个最早出现在科幻文学作品中的高科技装备，由于其能对人体机能的大幅增强，适用于单兵作战日益重要的现代战争需求，逐步在军用与医学领域被政府重视并研究发展起来，经过近些年来人们不断地研究，机械，电气，材料等与外骨骼相关的科技不断进步,外骨骼已经可以逐步投入实际应用，有从单一领域运用发展为多领域运用的可能。

本文主要根据人手指的结构与人机工程学知识，设计出一种以气动柔性驱动器FPA为弯曲关节驱动的小型手指外骨骼，通过增加手指指关节的出力来减少人手指工作时的疲劳。研究内容主要包括：

1. 1.介绍气动柔性驱动器FPA的弯曲关节的结构原理，数学模型以及仿真曲线。

2. 2.根据人体手指结构和人机工程学知识设计手指外骨骼的驱动机构，控制机构。

3. 3.构建手指外骨骼的3d模型与仿真模型，并设计处手指外骨骼各部件尺寸的具体参数。

本文设计的结构为用气动柔性驱动器FPA为主要驱动元件构成除拇指外的其余四指的手指外骨骼，通过软件模型仿真，来证明其的确能达到预想的弯曲程度，从而减少人手指的疲劳。

关键词：外骨骼，FPA，手指。

毕业设计说明书外文摘要

Title ：The Design and Research of Finger Mechanical External

Abstract

Mechanical exoskeleton, one of the earliest high-tech equipment in science fiction literature, because of its ability to significantly enhance the human body function, apply to the increasingly important modern warfare needs, and gradually in the military and medical field developed by the government attention and research, after years of continuous research, mechanical, electrical, materials and other skeletons related to the continuous improvement of technology, exoskeleton has been gradually put into practical application , there is a single field from the use of development for the use of multi-field possibilities.

This paper designs a small finger exoskeleton driven by flexible based on the structure and ergonomics of human fingers. FPA as a curved joint, which reduces the fatigue of human finger by increasing the output of finger joint. The main contents of the study include:

1. Introduce the structural principle, mathematical model and simulation curve of the flexible joint of the flexible flexible actuator FPA.

2. According to the human body finger structure and ergonomic knowledge design finger exoskeleton of the drive mechanism, control agencies.

3. To construct the 3d model and simulation model of the exoskeleton of the finger, and to design the specific parameters of the parts of the exoskeleton

of the finger.

The structure of this paper is designed to use the pneumatic flexible actuator FPA as the main driving element to form the other four fingers outside the thumb outside the finger exoskeleton, it can achieve the desired degree of bending, proved by the software model simulation and reducing the fatigue of human fingers.

Keywords: Exoskeleton, FPA, finger

目次

1． 绪论 1

1.1 研究目的 1

1.2  机械外骨骼研究现状 1

1.3机械外骨骼发展趋势 4

1.5手指机械外骨骼面临的问题 7

1.6本文主要研究内容 8

2．基于气动柔性驱动器FPA的弯曲结构设计 9

2.1 FPA驱动器结构及工作原理 9

2.2弯曲关节工作原理及仿真 9

3．手指机械外骨骼的结构与工作原理 14

3.1人手的结构与运动介绍 14

3.2 手指机械外骨骼的结构与工作原理 15

4．手指机械外骨骼控制与气源模块 19

4.1手背模块结构与工作原理 19

4.2 气源模块 22

5．手指机械外骨骼运动仿真及穿戴效果 23

5.1手指机械外骨骼仿真 23

5.2手指机械外骨骼穿戴效果 26

结论 28

致  谢 30