Lower Extremity Exoskeleton Robot Design And Simulation Research

Lower extremity exoskeleton robot is a device who can improve the wearer bearing capacity, and be able to complete the task which can’t be finished by people their own capabilities in a complex environment. With the development of science and technology, the lower extremity exoskeleton robot is widespread used in medical field and military field. The stand or fall of exoskeleton robot design directly influences the performance of mechanical structure and the service condition of the wearer. In conclusion, it has important implications for the design and simulated analysis the lower extremity exoskeleton.By the intensive study lower extremity exoskeleton robot, the combination of human anatomy and kinesiology,and using the principle of bionics design a lower extremity exoskeleton robot with seven degrees of freedom. With Solidworks software established 3D structure model. This exoskeleton robot uses hydraulic drive. The structure size of thigh, calf and waist of exoskeleton robot can adjust to the wearers with different height and bodily form. By the use of AMESim software, it designs the principle diagram of hydraulic system and the proper hydraulic cylinder. It makes the statics analysis and transient dynamic analysis by the use of software of finite element analysis to verify whether the choice of material stiffness is meet requirements or not. By the modal analysis to lower extremity exoskeleton robot, it gets the frequency and vibration shape of the lower extremity exoskeleton robot and provides convenience for the maintenance equipment. It makes the kinematics and dynamic analysis by the use of virtual prototype technology of ADAMS software and analyzes the problems and torque in the motor process. All of these works lay a basis for the further design optimization of the exoskeleton robot.At the end of this thesis, it makes a conclusion and a outlook of the research for lower extremity exoskeleton.