Lower Extremity Exoskeleton Robot Mechanism Design And Realization Of Virtual Prototyping

With the development of science and technology, the lower limb exoskeleton robot is a kind of power assisting device which is typically man-machine integrated. It has wide application prospects in biomedicine, military, civil areas and other aspects which let it have a lot of practical and research value. It is a kind of mechanical device which people can wear directly and combines human intelligence and the robot’s strength. The lower limb exoskeleton robot can provide protection for wearers、help them wal、increase their load ability and so on. It has touched upon many academic fields and integrated many high technologies.In this thesis, the domestic and abroad research status of the Lower limb exoskeleton robot is summarized. The system is divided into four parts and they are explained in detail respectively. The control system、perceptual system and drive system are also discussed. The motor is selected as the drive of the hip joint. The MR damper is selected as the drive of the knee joint. The pressure signal of the sole of the foot and joint angles are used as perceptual information. According to the laws of human walking, the mechanical structure of the Lower limb exoskeleton robot is designed and the characteristics of each joint are analyzed. The degrees of freedom are configured and the mounting positions of the drive are determined. The mechanical structure of the Lower limb exoskeleton robot has to track human motion which leads to higher requirements for the size of the mechanical device. The position tracking of hip joint and knee joint is used as objective function and Powell algorithm is applied to optimize the size of the mechanical device. The mathematical model of the damper is established and identified with the least square method.After the design of the lower limb exoskeleton robot is explained, the kinematical equation of the lower limb exoskeleton robot is established and the joint coupling of knee joint is eliminated. The kinetic equations of the swing phase and stance phase are built by Lagrange method. In view of complexity of the control of the Lower limb exoskeleton robot, the virtual prototype of the lower limb exoskeleton robot is established based on Solidworks and Adams in this thesis. The three-dimensional simplified model of the lower limb exoskeleton robot is built in Solidworks and imported into Adams. In virtual environments, we can analyse the motion of prototype and test and verify the rationality of model and gait trajectory. Virtual prototyping and human lower limb motion with consistency can be verified with kinematic similarity.In conclusion, the three-dimensional model of the lower limb exoskeleton robot designed provides guidance for the production of the physical prototype. And the validity of the planning gait can be verified in the virtual prototype.