Research Of The Structure Of A Walking-added Robot

A wearable lower-limp walking-added exoskeleton robot is a mechanical devicewhich is wearable outside the operator’s body. It can be used to enhance the carryingcapacity of the human body, or help patients with rehabilitation training. The technology ofwalking-added exoskeleton consists of ergonomics, mechanism, robotics, bionics, controlengineering, sensing technology, signal processing and etc, emphasizing the man-machinecombination and taking advantages of the human’s intelligence and the robot’s physicalpower. The wearable lower-limp walking-added exoskeleton robot will have a potentialapplication for auxiliary medical equipment, man-military combat equipment, heavymanual work, and environment-friendly transport device.With the development of science and technology, the disabled people’s requirementfor walking normally and raising the quality of life is gradually enhanced. Aiming at thisrequirement, a wearable lower-limp walking-added exoskeleton robot was studied, whichcould be used to help patients finish rehabilitation training and walk normally. Thisresearch is supported by the Nature Science Foundation of Jiangsu province “Research ofLord-passive Hybrid of A Nonholonomic Constraint Walking-added Robot”, the maincontents are as follows:1. Human gait analysis. Motion capture experiments were finished to measure thejoint motion parameters of the human body during walking. Based on the experimentaldata, human gait analysis was done to provide a basis for institutional design of thewalking-added robot.2. Dynamics analysis of the robot. In this paper, the dynamic analysis of thewalking-added robot was done. Application of Lagrange dynamics equation, dynamicsmodel of the robot was setted up, and then the robot driving force and power of the robot’smain joint were calculated using matlab. Meanwhile, the robot model was built in ADAMSand dynamics simulation was done. Then the results of the simulation of the two modelswere contrasted to verify the correctness of the established mathematical model.3. Structure design of the walking-added robot. Based on the dynamic analysis results, a walker robot structures were designed. According to the requirement of the driving forceand the range of motion of each joint, the driver of the robot and structure of each jointwere designed. Finally, the strength analysis of the key components in the robot structurewas done.Through those work, structure design of a wearable lower-limp walking-addedexoskeleton robot was completed. Those laid the foundation for further research.