Design And Analysis Of Wearable Exoskeleton Robot Ankle

This paper exists for developing a new wearable exoskeleton robot ankle.Within the special human body environment,safety,wearability and control of the mechanism was took as the design criteria,In addition,the best one in a series of parallel mechanisms has been picked out; thus,optimizing three spherical position can be a success for basing on these elements,then we can get the expected new exoskeleton robot ankle.At last,verifying the mechanisms by taking the approach that not only of analyzing workplace and dexterity,but also kinematics simulation,at that time,we all know everything is reasonable.Firstly,according to the knowledge of ankle joint, pick out 17 kinds of mechanism which can rotate in three coordinate direction.Then,classify these 17 kinds of mechanism in several categories by analyze and compare these mechanism.The wearable,controllable,driving difficulty and dynamic complexity of parallel mechanism was laid on comprehensive appraisal according to a certain ratio.It is concluded that the best parallel mechanism used in wearable exoskeleton robot ankle is 3-SPS/S.And analyze the output characteristics of 3-SPS/S parallel mechanism.Secondly,obtain the workspace of 3-SPS/S parallel mechanism by MATLAB software according to the kinematics analysis of this mechanism and analyze the influence caused by the different position at two planes of three spherical.And optimize three spherical position at two planes which is considered safe that can reduce even avoid the second damage to human in wrong operation as the most important factor.After optimization,evaluate the controllable of this reasonable parallel mechanism by analyze the dexterity of it.Finally,build a 3D model of 3-SPS/S parallel mechanism in CATIA software,then import the 3D model into ADAMS software and do a series simulation.A lot of data will appear after this simulation.And the correctness of kinematics theories and workspace will be confirmed through these data.The research in this paper provides some theoretical basis for the new exoskeleton robot development and application.The three spherical position at two planes optimization provides a new way of thinking in new wearable exoskeleton robot development.The simulation through ADAMS software confirmed not only the correctness of kinematics analysis,but also the rationality of this development,which promotes the development and application of parallel mechanism.