下肢助力外骨骼机构设计与分析-design and analysis of lower limb booster exoskeleton mechanism.docx

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2018-08-07 发布于上海
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下肢助力外骨骼机构设计与分析-design and analysis of lower limb booster exoskeleton mechanism.docx

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下肢助力外骨骼机构设计与分析-design and analysis of lower limb booster exoskeleton mechanism

AbstractResearchonexoskeletonhasbecomehotspotofrobotictechnologyathomeandabroad.Exoskeletonrobotcancombinewiththewisdomofhumanbeingandthestrengthofroboteffectively,solvingtheproblemonweight-bearinginthecomplexenvironments.Withtheweightimprovementofindividualcombatequipment,ExoskeletonRobotthatsuitsforthesoldiers,hasgreatpotentialapplications,whichisdesignedtoimprovetheWeightcapacityofsoldiersinthevariouscomplexenvironment.Thepaperhasafurtherstudyonthedesignofmechanicaldrivesystem,analysisofkinematicsanddynamics,designofsensingsystem,andthesimulationandexperimentofLowerLimbPowerExoskeleton.BasedontheanalysisofHumanlowerlimbmovementmechanism,themechanicaldrivingsystemofLowerLimbPowerExoskeletonisdesigned.Accordingtothemethodofbionicsdesign,wedesignthestructureofmechanism,includingthehipjoint,kneeandankleandsoon,andconductthefinite-elementanalysisforthekeyparts.Finallycombiningthemechanismofjointmusclemotion,wedesigntheexoskeletonhydraulicdrivingsystem.Aimingatthemechanicaldesignofexoskeleton,thekinematicsanddynamicsofexoskeletonisanalyzed.ThepapermodelstheExoskeletonbyusingtheD-Hmethod,andsolvestheforwardkinematics,andgotstheJacobianmatrixbymethodofdifferentialtransformation;thensolvesthedynamicsbyLagrangemethod.Byresearchonthewholestructureofexoskeletonandcontrolstrategies,thepaperalsodesignsitssensingsystem.Byanalyzingtheinformationoftheplantarpressuredistribution,weselectanddistributethepressuresensor,designthesensingshoesandinsurethereliabilityofcollectingpressureandthesafetyofthesensors.Thenwechoosetheproperjointrotationsensor,realizethecontrolofexoskeletonaccurately.Finally,somesimulationsandexperimentsisdone.Simulationanalysisincludesjointsimulationandwalksimulation;whileexperimentsincludewearcomfortabletest,Jointfollow-upexperiment,gaitinformationcollectingexperiment,andExoskeletonsdriveexperiment.Theresultsdemonstratethatlowerlimbpowerexoskeletoniswelldesignedandsuitableforwear,andcansatisfytherequirementofloadingandflexibility.Keywords：LowerLimbPower;exoskel