The Feature Kinematic Analysis Of Booster Wearable Exoskeleton Based On Man-machin Motion

With the rapid development of science and technology, exoskeleton attention has been highly valued. The exoskeleton technology becomes the focus of scientific research institu-tions. The idea of exoskeleton comes from arthropods for that they protect themselves by their hard shell. Later, humans use armor which is made of animal skins and iron to protect them on the battlefield. Nowadays, this exoskeleton cannot meet human use. So the modern exoskeleton which can reduce the load of humans comes true. Exoskeleton plays a support-ive role by mechanical, the weight of the goods direct effect on the ground. Exoskeleton keeps pace with human body, and follows the movement of human body, and therefore the exoskeleton can be seen as an extension of the human skeleton. Exoskeleton enhances hu-man endurance greatly, so the exoskeleton eases the contradiction between the growing load and the current limit function between humans. Currently, the United States, Japan, France and other countries, research institutions and universities have exoskeleton technology as a key development projects and launch their prototype.The booster wearable exoskeleton prototype which is the second generation made by Southwest Jiaotong University is analyzed in article, based on the analysis of human motion charateri stics ansys the typical action features of man-machine system. According to idea of people first and exoskeleton second, analyze the kinematics of exoskeleton and virtual pro-totype simulate, paper specific work as follows:(1) According to sports biomechanics and human skeletal structure, analyze human mo-tion. From energy consumption, exercise form and frequency of use and other considerations, select the typical actions knees squatting-stand up, one knee-stand up and walk upright for analysis. Use inertial motion capture to test the body, and get the three-dimensional coordi-nate space of the feature points of the body during exercise. Analyze of the movement of the human body, and analyze the coupling characteristics of human-exoskeleton by using the motion data collected by inertial motion capture. Get error analysis between the characteris-tic angular motion equations and curve fitted.(2) The exoskeleton prototype which is the second generation made by Southwest Jiao-tong University is analyzed in article. Analyze the kinematics characteristics of exoskeleton based on D-H coordinates, and get the equation of motion in the exoskeleton generalized co-ordinates. Get kinematic analysis of mechanical structure of exoskeleton in characteristics motion, and get trajectory equations of motion characteristic of feature points. (3) Simulate the virtual prototype of the exoskeleton of characteristic motion. Establish a virtual prototype feature of characteristic motion, and simulate the virtual prototype which is combined with the human body-the online exoskeleton kinematic equations coupled. Af-ter analyzing and comparing, get space motion curve of exoskeleton key point and kinematic parameters curve of hydraulic cylinder.In summary, human motion analyses and simulation analysis of exoskeleton action fea-ture virtual prototype based on human motion analysis, external skeletal equipment design and manufacturing has a very important value.