Research On Human Powered Lower Exoskeleton Model

The human powered exoskeleton is a multi-disciplinary and comprehensive technology, including mechanical design and manufacturing, mechanical and electrical integration, drives, sensors, automation control, artificial intelligence, ergonomics, etc. This thesis was aimed at the increasing population ageing problems. And according to the powered exoskeleton technology, it put forward the human powered exoskeleton, which was a service-oriented robort to assist the elderly life. The human powered exoskeleton has the function of powered-supplyment, which can help the aged walk normally or up and down the stairs, also it can help the disabled do rehabilitation training. The thesis mainly analyzed the exoskeleton robot kinematic analysis, designed a mechanical structure, and made man-machine coupling dynamic joint modeling and simulation of the exoskeleton. The main contents are as follows:1)The physiological property analysis of human lower limbsThis thesis determined the human lower limb with a total of seven rotation degrees of freedom by studying physiological structure, space coordinates of lower limb body joint degrees of freedom, and the characteristics of gait parameters and motion parameters. According to the gait features, it divided gait cycle into the swing phase and support phase.2)The lower exoskeleton structure's design and optimizationBased on the coupling properties of the exoskeleton and human body, it designed the mechanical structure of the exoskeleton, according to human body movement mechanism. Then, it did the topology and multi-objective parameters optimization to the key components pertaining to the exoskeleton system in the Workbench, and also set up the corresponding new model. Finally, it analyzed mechanical structure statics test under the different conditions.3)The kinematic research of the lower exoskeletonThrough the theory calculation and simulation experiment methods on kinematic or position transformation, this thesis analyzed and calculated the lower limb exoskeleton kinematic problem, and then created the lower limb exoskeleton kinematic equation by the motion model of the D-H coordinates. At last, it did simulation calculation of kinematic model in the ADAMS software environment, and generated the lower limb exoskeleton kinematic parameters as a function of time in virtual reality.4)The dynamic research of the lower exoskeletonThis thesis did dynamic analysis, set up models and solved those questions in single leg support and legs support condition respectively by the Newton-Euler method. And man-machine coupling simulation was completed preliminary using the ADAMS virtual prototype.5)The test of the powered exoskeleton prototypeThe test platform was created. It produced some parts and connected each other. And it determined the types of the stepper motors, drivers, controller, signal generator. It programmed for the gait anticipation control and ran them. Also, the test results showed some problems existing in the experiment, and I put forward the solutions to these problems.