Structure Design And Analysis Of 10-DOF Walking AID

This paper designed a type of powered walking aids, and it’s function is to assist the paralysis of the lower limbs to stand up and walk again like normal person.The walking aids use a kind of personified human structure which request has a light weight, a reliable and safety structure, a friendly man-machine performance and easy to wear.This paper summarizes the main research contents and key problems that need to be resolved about walking aid on the basis of related research background and progress. 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. Combined with MATLAB and RECURDYN software, the dynamic simulation has been mad, which provide the foundation of the walking aids design.The design principles of the walking aids mechanical structure are discussed in the paper, the kinematics analysis of the walking aids structure, the setting of freedom and joints and total design solution-terms of walking aids are also finished in this paper. According to the human leg size, the characteristics of lower limb joints, and the Discussion of the ZMPtheory, the mechanism principle diagram was designed. We can determine the installation position of linear actuator by the limit position and the geometric parameters of linear actuator.According to the human engineering theory, a detailed walking aid’s structure scheme have been designed. Then the 3D model of walking aids is established by 3D software PRO/E. Kinematics and dynamics simulation is conducted using the RECURDYN software in which the needed parameters such as the motion law and torque of the electric draw stem are obtained. the simulation results verifies of the above analysis, meanwhile it’s also provides material foundation for the design of control system. On the basis mentioned above, we finished finite element analysis and intensity of the walking aid’s key parts, to test its strength meet the application requirements.This design of walking aids has a reasonable structure, light weight and low-cost. It can provide material foundation for subsequent study on walking stability of walking aids. Meanwhile, the walking aids is controlled using human motion information, together with the adjust of gravity in order to maintain stability, so this system is a kind of automation system with biped characteristics. It can lay a foundation for the further study of the walking aids.