Analysis And Design Simulation Of The Lower- Limb Exoskelton Assisted Robot System

Lower extremity exoskeleton power system is a wearable robot which can detect human motion information through the sensors installed in the human motion node to control robot. Therefore it can assist people who cannot walk smoothly. Lower extremity exoskeleton robot is a kind of imitation of human walking bionic robot. In the design process,we can make the organic combination between lower limbs with the human lower extremity exoskeleton robot by the personification thought. In this way the lower extremity exoskeleton have the characteristics of human walking and similar physical structure.This research integrated the research background at home and abroad and the development direction in the future through the investigation of several existing lower limb exoskeleton robot. Then we conducted a comprehensive comparative analysis. Setting the design scheme of the system including the overall model and the control scheme. The design of the two paragraph of the exoskeleton robot. Compared with the existing one is helping decompression function and another has the advantages of simple structure, complete function, easy to wear. The two paragraph of exoskeleton robot can meet the design requirements in function.This paper analyzed and discusses the human motion mechanism and external skeletal structure and combined with the requirements of the design of the robot. To determine the degree of freedom and the configuration of the exoskeleton. Then, to determine the driving mechanism of the exoskeleton robot. Analysis the feasibility of the approach.Secondly, we established the three-dimensional model of lower extremity exoskeleton robot parts in 3D modeling software Pro/E. Then imported into the simulation software ADAMS and establish a lower extremity exoskeleton robot prototype model. Through the simulation we can get the driving force and the motion parameters of related nodes.Then analysis the exoskeleton robot motion by Simulink software and proposed a control scheme. Through the simulation and analysis results we can constrained location optimization. To reduce human intervention. Laying a solid foundation for the lower extremity exoskeleton design.Finally, putting the 3D model into ANSYS and devising structure size on the whole outer parameter optimization. Through the optimization selection of materials. It can make human body exoskeleton and efficient organic fusion better, improving the overall coordination of movement.