| Exoskeleton is a complex high degree of man-machine coupling power servo system that uses human as control body, and mechanical structure as power body. Since the emer-gence of exoskeleton, humans began to solve the contradiction between limited load capacity and unlimited load requirements. Study about the exoskeleton becomes the domestic and foreign scholar’s research hotspot. Exoskeleton cruising ability determines by the battery ca-pacity, mechanical efficiency and hydraulic power unit, etc. Because of the cooling method, the size of hydraulic power unit and the efficiency of the hydraulic system, exoskeleton hy-draulic power unit face the grim problem of temperature problem. The temperature problem has seriously affected powered exoskeleton cruising ability. How solves the temperature problem of existing hydraulic power unit has become the urgent matter.In order to solve the problem that exoskeleton cannot operate for a long time due to the temperature rise of the exoskeleton hydraulic power unit. This thesis takes prototype exo-skeleton which made in southwest jiaotong university as research object. To analyze the ac-tual heat dissipation power and temperature field of the exoskeleton hydraulic power unit, ANSYS simulation software is used to model the exoskeleton hydraulic power unit and conduct thermal analysis. Finally, the result of thermal analysis is used to optimize exoskel-eton hydraulic power unit. This article content specifically as follows:(l)According to sport biomechanics and human bone structure, the model of kinesiolo-gy is established. Consider the frequency of use, select humans walk upright as research ob-ject for analysis. Through spectral method analyzing the high speed camera collect data in the experiments. Using optical motion systems to capture the kinematic data, and get the spectral characteristics of kinematic data. Based on exoskeleton kinematics model build us-ing the Fourier series fitting method, the errors of exoskeleton kinematics model is analyzed and compared.(2)The hydraulic power unit energy consumption is analysis based on human kinemat-ics model. Though analyzing the gait of man-machine coupling system, exoskeleton plunger cylinder instantaneous motion of lower limbs is get. Combined with plunger cylinder instan-taneous motion of lower limbs and parameter of the hydraulic system, the hydraulic system of powered exoskeleton power distribution is calculated.(3) Combined with 3D modeling software Pro/e and analysis software ANSYS, exo- skeleton hydraulic power unit thermal simulation and optimization is implemented. Based on exoskeleton hydraulic power unit power loss, using the analysis software ANSYS to obtain thermal simulation. In order to meet the cooling requirements of exoskeleton hydraulic pow-er unit, using the thermal simulation results of the hydraulic power unit to optimize and ana-lyze the hydraulic power unit.(4) Using the thermal simulation result of exoskeleton hydraulic power unit to validate the effect of exoskeleton hydraulic power unit thermal optimization. Design exoskeleton hy-draulic power unit temperature acquisition experiments under natural conditions. Using MATLAB software analyzes exoskeleton hydraulic power unit temperature data, the curves of temperature and time is got. |
