請用此 Handle URI 來引用此文件:
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/24320
標題: | 應用於膝上型人工義肢之小型可調整式阻尼器之設計開發與特性研究 Design and Development of Adjustable Damper Applying to Above Knee Prosthesis and Research on its Performance |
作者: | Cheng-Hsien Tu 杜政憲 |
指導教授: | 黃光裕 |
關鍵字: | 人工義肢阻尼器,節流閥,外部調控,半主動式,模組化, Prosthetic damper,Flow control valve,External control,Semi-active,Modular design, |
出版年 : | 2011 |
學位: | 碩士 |
摘要: | 透過整合新開發的可調節流閥到油壓缸上,本論文設計開發出適用於膝上型人工義肢的可調式小型液壓阻尼器。阻尼器由小型雙桿油壓缸與外接式可調式節流閥構成,以調節節流閥內流道長度來改變阻尼器之阻尼效果。
可調式節流閥的調節關鍵元件為節流環與圓楔環。固定不動的節流環有一個窄小的節流道;而圓楔環則固定於一個轉軸上,轉軸可以手動或是馬達驅動。經由轉動圓楔環,圓楔環與節流環之間的流道長度因此能成比例改變。透過模組化設計概念,這兩個元件可以很容易適應不同阻尼需求和維護。 所開發的可調液壓阻尼器性能經過理論分析以探討設計和操作參數的影響。其性能並且也經過實驗驗證過。阻尼力和液壓缸作動速度成非線性關係。在180mm/s的致動速度範圍內,可調整式阻尼器可提供878N的最高阻尼力,它提供多數人足夠的支撐容量。可調整式阻尼器的性能會受到組裝誤差和加工精度顯著地影響。 Through integrating a new developed flow control valve into the hydraulic cylinder, this thesis has realized an adjustable small hydraulic damper for the above-knee prostheses. The damper is mainly composed of a double-rod hydraulic cylinder and an external attached flow control valve. By regulating the flow channel length inside the flow control valve, the damping effect of the damper can be varied. The key elements of the adjustable flow control valve are the flow control ring and the circular wedged ring. The fixed flow control ring possesses a narrow flow channel. And the circular wedged ring is fixed on a shaft, which can be manually operated or driven by motor. By rotating the circular wedged ring, the flow channel length between the flow control ring and the circular wedged ring can be proportionally varied. Through the modular design concept, these two elements can be easily adaptable to different damping requirements and maintenance. The characteristic performance of our developed adjustable damper is theoretically analyzed to comprehend the influences of the design and operational parameters. Besides, its performance is also experimentally verified. The relation between the damping force F and the actuation speed v is nonlinear. For the actuation speed range of 180 mm/s , the damper can reach a maximum damping force of 878 N, which supplies a sufficient supporting capacity for most peoples. The damper performance can be significantly influenced by the assembly errors and the manufacture precision. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/24320 |
全文授權: | 未授權 |
顯示於系所單位: | 機械工程學系 |
文件中的檔案:
檔案 | 大小 | 格式 | |
---|---|---|---|
ntu-100-1.pdf 目前未授權公開取用 | 2.1 MB | Adobe PDF |
系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。