The Structure Design And Analysis Of Assistant Lower Limb Exoske Letons

This paper is completed on the study of the domestic and foreign literatures, and has summarized the lower limbs exoskeletons research contents and the key problems that need to be resolved. On the basis of the analysis of the human engineering, human anatomy and kinematics, the human lower limbs model, and the human body lower limbs walk kinematic features, the dynamics equation of lower extremities have set up and solved through the Lagrange. Combined with MATLAB and dynamic simulation calculation model ADAMS, the foundation of the lower limbs exoskeletons design have been provided.The design principles of the lower limbs exoskeletons mechanical structure are discussed in the paper, the kinematics analysis of the exoskeletons mechanical structure, the setting of freedom and joints and total design solution-tms of exoskeletons are also finished in this paper. According to the human engineering theory, a detailed exoskeletons structure scheme have been designed, and established a3D exoskeletons model based on3D parametric CATIA software. We got the related movements parameters by comparing the normal gait and weight gait experiments. The parameter fitted by MATLAB and then contrasted to human body actual movement, as MATLAB and ADAMS simulation of input signal, and concluded the torque needed to do walk movement for drive system selection and motion control.After completed the study above, the thesis have done the exoskeletons force analysis, analysed the working conditions of the exoskeletons, and calculated the exoskeletons loads under different conditions. According to this as the basis, we finished finite element analysis and intensity of the exoskeletons key parts. Through the analysis, we know that limited the lower exoskeletons weight capacity is the driving system and not the exoskeletons structure strength.In this paper the design of the lower limbs exoskeletons structure is reasonable, light weight, and has a good processing for the production of exoskeletons. As a kind of typical man-machine system with walking characteristics, we extracted the normal human body motion information to control the system and that provided the foundation for the exoskeletons research.