| In recent years,as a result of the aging problem，medical rehabilitation and thepursuit of quality of life, service robots have been taken more and more seriously.Asa new kind of power-assist robot, lower limb power exoskeletons aims to helppeople walk under high weight,as well as to assist disabled people walk like normalpersons. It has wide application prospect that include military, transportation,medical and entertainment. The aim of this paper is to design a lower limb powerexoskeletons for earthquake rescue workers.The mission of this paper include four parts. Firstly,a highly personifiedstructure of the lower limbs powered exoskeleton should be set up. Secondly,themodel of this exoskeleton will be combined with the model of human body toexecute biological-mechanical system simulation and analysis. Thirdly, In order toimprove the continuous working time of this exoskeleton,a solution of saving energyshould be fund out. Finally, based on previous studies, I need to do a preliminarystudy on control strategy.To provide a basis and guidance for exoskeleton structure design, the humanbody and the walking gait should be comprehensivly analysised,which based onergonomics and simulation. The structure of the exoskeleton will be designedaccording to the results of the analysis of human walking, making sure that eachfreedom rotor of exoskeletons passes through the relevant joint of human body.For the purpose of saving energy, based on the principle of passive bipedalwalking,this paper will explore the method of passive energy storage by Recyclingthe gravitational potential energy of its own system. The design of drive unitconsists of driving element, transmission mechanism, energy storage mechanismand joint structure. Additionly, the study of control strategy include design ofposition sensing module and establishment of control algorithm.Finally, A series of experiment about drive unit will be done to verify energysaving solution and the effect of the control strategy. |
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