The Lower Extremity Walking Assist Mechanism Design And Simulation Research

Lower extremity walking assist mechanism belongs to special robots which is a kind ofrecently developed filed for research, it is reference on robot technology, control theory,mechanism, sensor technology, computing science, ergonomics and other subjects, thistechnology having become a hot research at home and abroad. In order to complement eachother’s advantages, lower extremity walking assist mechanism merges the intelligence ofhuman and the tireless of machine together. Thinking about the broad prospect of assistmechanism, the assist mechanism will get potential economic benefits and the value ofMilitary operation, so it has a very important practical value on the research of the assistmechanism. Aiming at the actual demands of the assist mechanism, this paper worked on thedesign of mechanism, the simulation on kinematics, the control strategy research and thedynamic model along the special path. Finally, simulation test on the model to ensure theassist mechanism can complete anticipated goal.Lower extremity walking assist mechanism is designed in the view of the ergonomicstheory, and thinking about the stability, comfort and reliability in human walking at the sametime. The paper proposed the design scheme of the assistant mechanism model, and analysisthe critical component in assistant mechanism by their strength. The mathematical model ofthe lower extremity walking assist mechanism is established by applying D-H parametricequations, for solving the positive and inverse kinematics, and provides a theoretical basis forthe simulation of the lower extremity kinematics simulation. The model into ADAMSkinematics simulation in, take a group of human walking data, compile the correspondingSTEP function, the model set parameters, adding material and constraint, finally willprogrammed drive function import model, analysis on the measurement of simulation data,and then to apply different height of power mechanism analysis. Finally, the establishment ofa dynamic model along a specific path, the paper choose the going on stair of this most basicday-to-day action, and planning the gait trajectory and carry on the dynamics simulation study.