The Structure Design And Simulation Analysis Of Agriculture Lower Limb Exoskeleton

Exoskeleton robot technology is the kind of robot technology,is also a hot spot in the field of robot in recent years.After entering the 21 st century,many countries in the world have stepped up external skeletal research in the field of technology,and achieved many good results.The results of this study included in individual soldiers,medical rehabilitation,rescue and in many fields such as engineering.An aging society in our country,in recent years,medical rehabilitation,the problem such as agricultural production,exoskeletons technology also have nowhere to go.Exoskeleton robot is mainly in the aid of a new type of machinery,it can well realize human-machine interaction,to improve the load-bearing capacity of the wearer,restore walking ability in many aspects.So exoskeletons technology in military,medical,engineering,and other fields has a good prospect.But this topic is in view of the traditional agricultural production problems such as low efficiency,big workload a designed to help improve agricultural producers production of lower limb exoskeleton robot.In understanding exoskeleton research status and access to relevant information both at home and abroad,on the basis of this paper sums up the main research content and lower limb exoskeleton robot needs to solve problems.This thesis mainly based on lower limb exoskeleton robot application requirements,first of all to lower limb exoskeleton robot's mechanical structure and drive structure design;Secondly to lower limb exoskeleton robot kinematics and dynamics analysis carefully;Finally the exoskeleton model designed for the simulation analysis,comparison and the analysis results and the human body movement,to verify the rationality of the design of lower limb exoskeleton model.In this paper,8 degrees of freedom of unilateral lower limb exoskeleton robot is proposed based on the analysis on the human body physiological function of lowerlimbs.In mechanical structure design,according to the design criteria of bionics to each joint of lower limb exoskeleton anthropomorphic design;And according to the force of the movement joints,the part of spare parts for the statics analysis based on ANSYS;In addition,in the design of drive structure,according to the requirements of the exoskeleton structure may at any time lock design,we adopt a two-way hydraulic lock control lock loop function of hydraulic drive scheme;According to the structure,we have to lower limb exoskeleton has carried on the analysis of the kinematics and dynamics.