The Key Component Reliability Analysis Of The Bionic Lower Extremity Exoskeleton Robot

The bionic lower limb exoskeleton robot is the emerging investigative hotspot in the field of robot, which is one kind of wearable equipment that combines Mechanical Engineering, electronic technique, control, computer technology, sensor technology and medical science and technology. The lower limb exoskeleton robot to imitate the skeletal structure of human being and degree of freedom in the design of structure; its motion mode is established on the basis of human gait research. The robot can provide support, assistance and protection for people who wear it. For the bionic lower limb robot is wear on human body directly, which mainly serve the handicapped with lower limbs paralyzed to help them walking. Its reliability and safety are of vital importance.By checking the reverent documents demotic and overseas and comprehending the research institutions' research progress towards the bionic lower limb robot, it is found that most research pointed to the design of structure and control, as for the reliability, it refers little. If the robot fails down, it will hurt people badly. So the reliability of the key components of the bionic lower limb robot must be paid more attention, which maintains the safe and smooth operation of the robot.This thesis analyze the structure and function of the bionic lower limb robot and make force analysis towards structural member and make sure the key component of this kind of robot. That is Gleason spiral bevel gear,waist support component, knee-joint connecting rod, hip joint connecting rod.By stress-strength interference theory, the deceleration system's key component-Gleason spiral bevel gear are researched and calculated, and the gear tooth bending stress and contact stress of the degree of reliability are obtained.By using the finite element analysis towards Gleason spiral bevel gear,waist support component, knee-joint connecting rod, hip joint connecting rod to conduct stress, strain, displacement and fatigue analysis, which gained the transformation and stress of the key components. At last, the result showed that they are all satisfactory and comply with the designed requirements.This thesis was focused on the accelerated life test design of Gleason spiral bevel gear. The platform and table of accelerated life test were designed. Making use of damage accumulation hypothesis(Miner rule) to confirm the time of the accelerated life test; Rotary inertia wheel was designed and the motor drives the wheel accelerated rotate through the gear; Using differential equation of motion of rigid body rotate fixed-axis to make sure the loading force; Using Solid Works to conduct 3D modeling, draw Engineering drawing and process and manufacture. All these works verified Gleason spiral bevel gear's reliability.