Design And Research Of An Exoskeleton Tele-Operation Manipulator

Exoskeleton can be used as the master manipulator when it is applied to tele-operation areas. With exoskeleton device got dressed on the operator’s upper limb, the operator’s arm motion parameters reproduce on the slave multi-DOF robot in real-time. As an important interface of man-machine interaction, it can transmit position, orientation, speed and other information up to a host computer system, and accept haptic information of slave robot contacting with the environment sent from the control system at the same, which can provide the operator with real force telepresence, thus achieving efficient robot intervention and control, making the implementation of a variety of complex tasks from the slave multi-DOF robot possible. Based on the latest research status of exoskeleton mechanism, this paper focuses on the design and research of the exoskeleton tele-operation manipulator.Firstly, in this paper, the human upper limb motion mechanism is studied. Accordingly, the distribution of DOF and the movement parameters of the exoskeleton tele-operation manipulator are determined, and preliminary design of the overall scheme of the exoskeleton master hand is implemented. Then, the kinematics model of the designed exoskeleton tele-operation manipulator is carried out to solve the forward kinematics and inverse kinematics. Based on kinematics solution, this article adopts the Monte Carlo method to draw the workspace cloud of the exoskeleton master device. The results show that the workspace of exoskeleton is larger.Secondly, the main components of the exoskeleton tele-operation master manipulator are selected and calculated. Next, the specific structure of main hand tele-operation exoskeleton is detailedly designed. This paper expounds systematically how the wear part of the exoskeleton device, the drive unit, and the base part are designed. Then, the deformation and stress of the key components of the exoskeleton master manipulator are analysed by Ansys, and rigidity meets the requirements. Compared with the existing exoskeleton mechanism, the main characteristic of the device is:low inertia of the device, singular configuration is adjustable, each joint distribution accords with activity characteristics of human arm and can adapt to different sizes of the upper limb of the operator at the same time.Then, the design scheme of the control system of the exoskeleton master manipulator is proposed. This paper introduces some typical robot control methods. A force feedback PID control scheme is designed for the exoskeleton tele-operation manipulator. At last, using the analog driving signal, the simulation analysis of the position tracking situation of exoskeleton tele-operation manipulator is carried out.Finally, the physical prototype of exoskeleton tele-operation master manipulator is developed. Based on this, the movement of each joint is analyzed, and then the experiment is conducted to test the performance of the master manipulator, mainly includes movement in free space and force feedback performance.