Mechanical Analysis And Structural Design Of Lower Limb Of Weight Bearing

The exoskeleton is a hard external structure for the protection of biological soft organs.This paper studied a kind of wearable mechanical device which provides help for walking as well as gripping.Exoskeleton has the advantages of robots such as high load capacity and long time working ability,etc.Besides,it also has wide application value in military,rehabilitation and engineering field.Through the analysis of human gait,the kinematics and the dynamics as well as the design of external skeletal structure,the Adams simulation and experimental study were conducted in this paper.This paper designed a kind of negative external skeleton.The main research contents and results are as follows:1.Based on the analysis of the structure,the degree of freedom and the range of motion of the human body,the basic parameters of the exoskeleton design were obtained.In this paper,the gait cycle of the walking human body was analyzed in detail,and the joint angle curve and moment curve were obtained.2.Three-dimensional model of the exoskeleton robot was modeled using Solidworks,this paper focused on the design of the external skeleton of the hip joint,knee joint and ankle joint.FEM simulative analysis was used in the design of every part and the driving force of the joints were calculated,thus provided theoretical basis for the design of the drive.3.The kinematics of the exoskeleton was modeled,and the correctness of the coordinates of the exoskeleton model was verified as well in this paper.The Lagrange function equity method was used in this paper to analysis the dynamics of exoskeleton robot,the torque equation of exoskeleton joint was acquired through that method.With the help of MATLAB,angle equations were acquired by fitting the angle of the CGA data,the walking exoskeleton joint torque curve was obtained by substituting in the angle equations.The correctness of the exoskeleton model was verified comparing the torque curve with the torque curve of human walking.4.The exoskeleton was simulated using Adams,the movement angle curve of and the torque curve of each joint were obtained through the simulation,and the correctness of the exoskeleton model was verified comparing the torque curve with the actual motion curve of the human body.The experimental platform was built to carry out the pressure experiment of the sole as well as the wearable experiment of the whole exoskeleton.The wearing comfortableness and the walking performance of the exoskeleton were studied through the platform.Through the analysis of the feedback signal of the sensor,the movement intention of the people is obtainable,thus it can achieve the purpose of helping and assisting.