The Design And Simulated Research Of Reinforcement Mechanism For Exoskeleton Robot’s Lower Limb

The lower limb of the exoskeleton robot is a kind of human-computer interaction device which is worn on the human body. The exoskeleton combines robot’s powerful force and the flexible decision of the human beings, is a kind of advanced product. It can play a key role in disaster relief, fighting, defense, industry and many other fields, and assist the body’s physiological function of motion, improve the performance of the wearer’s movement index.This study of exoskeleton robot is aimed at increase the power by machinery method, through the methods and principles of ergonomics and electromechanic. reasonable arrangements for the degrees of freedom and skeletal size data of human lower extremity are extracted by anatomy research. The innovative results of this thesis is designed and verified a mechanical structure of lower limb exoskeleton that can increase energy, and designed a control system of the exoskeleton with the Arduino board as the control center, potentiometer as the sensor. The control center will discrete the potentiometer’s output voltage, which corresponding the pulse number of electric cylinder’s control requirement, adapting the movement of the corresponding position of exoskeleton. The human walking gait is simulated by the D-H matrix equation, which establish the relationship between the swing angle of the lower limb and the robot’s position and orientation. Using Adams software to simulate the skeleton’s dynamic kinematics and dynamics analysis, to avoid unnecessary loss of the project. The effectiveness of exoskeleton was evaluated by a designed experiment that measures the muscle electrical signal.The mechanical structure and control system of the lower limb exoskeleton prototype have been repeatedly operated to keep the function stable in a certain number of times. The Arduino control board, as the core of control system, is stable, can respond the motion commands quickly, and can to control the corresponding movement of the exoskeleton in a small response time, through the hardware system. This thesis provides a useful reference for the improvement of the performance of the lower limb by adding a mechanical mechanism. It plays a role in broadening the research ideas of the lower limb of the exoskeleton robot.