Research On Spatial Forces Mechanisms Of Lower Assistant Robotic Legs

An exoskeleton robot is an inregrated mechanisms system that based on artificial intelligence control by combining human and robot, which can offer power assistant used in medical treatment, industrial and military affairs.In order to study both the stability and flexibility that the lower assistant robotic legs possesed, and increase the carrying ability, this paper carried out a research on spatial mechanisms and forces of lower assistant robotic legs under the support by Doctor Fund of Ministry of Education of China (20100074110005) and National Defense Scientific Research Special Fund Program of Ministry of Education of China (20108824). The kinematics equations were built with Denavit-Hartenberg method for different spatial mechanisms. An optimal range of belt structure was chosen based on ergonomics. The freedoms of robotic legs were optimized and anti-torque mechanisms were designed to improve the force structure of robotic legs. A prototype was built by rapid prototyping technology, and the total weight of the mechanical structure was decreased by 52.1%.The results showed that:the new lower assistant robotic legs are compact and have good mechanical properties. They have both good stability and flexibility, and comply with the kinematic laws of human body.