Exoskeleton Upper Limb Movement Teaching Device Design And Simulation

Exoskeleton technology is a complex combination technology, is a new kind of robot that combined human intelligence with mechanical energy from mechanical power unit. This thesis presents a6-DOF (six degrees of freedom) exoskeletal arm as an auxiliary structure. It aims at obtaining each joint motion dates of the wearer. So it can control the other exoskeleton. The work mainly include:1. From the angle of human anatomy, the movement form of human upper limb is analyzed, then the DOF of each joint and the motion angle range of upper limb is summarized.2. Frist, the two rigid form model of6-DOF was designed, second the algorithm of coordinates of upper limb institution end and each joint, according to D-H coordinate transform was established and positive and inverse kinematics was analyzed.3. On the MSC. Adams simulation platform, the motion range of6-DOF model each joint and the operation of taking a fixed position items was simulated and through the simulation, it got the following conclusion:(1)Without hinder, shoudler, elbow and wrist joint can move by prescribed trajectory; The motion of outeach and anteflexion of shoulder have the biggest impact on the centrid acceletation; the faster movement range change, the bigger wave frequency of the angle acceleration。(2) In the condition of same material, changes smoothly as exoskeleton moves slowly; driving torque proportional to the material density under the same velocity; when Centroid position is low, torque will increase.(3) Through simulation by taking a fixed position items, the exoskeleton can realize daily simple behavior and the motion also corresponds with human kinematics rules.4. To solve the problem that shoulder can’t realize the rotation at arbitrary position, the arm model was optimized. After that structure was analyzed by taking the operation motion of Shadowboxing wheel for example, when centroid position go down, the driving torque can greatly reduce.