Structural Design And Kinematic Analysis Of Lower-limb Extremity Mechanical Exoskeleton

The lower limb extremity mechanical exoskeleton is a kind of intelligent mechanical device which can be worn outside human body and connect human body with machinery,like human skeleton,which supports human body and assists lower extremity movement.It is a combination of new technologies in many fields,such as machinery,materials,sensors and artificial intelligence.The lower limb extremity mechanical exoskeleton is mainly used to assist human walking and relieve fatigue walking under load.Compared with the traditional carrier machine,it has great advantages,which has higher flexibility,can adapt to complex environment and has a wide range of work.The purpose of this paper is to design a lower limb mechanical exoskeleton which is suitable for lower limb wear and has certain flexibility for human body's operation under load.In order to achieve this goal,this paper mainly studies the lower limb extremity mechanical exoskeleton from three aspects: structural design,kinematics and dynamics analysis,simulation and experiment.Firstly,in the process of kinematics and dynamics analysis,this paper determines the range of freedom,rotation and size adjustment of active and passive joints.A three-dimensional model of the lower limb extremity mechanical exoskeleton is established by SolidWorks and analyses the static characteristics of mechanical forces under different states.Secondly,in the process of kinematics and dynamics analysis,the forward kinematics and inverse kinematics of the mechanism are solved from the point of view of human gait analysis.The simulation model is established by using MATLAB and the dynamic simulation of the mechanism is carried out.The kinematics law of the joint driving mechanism is obtained,which provides the data basis for dynamic analysis.Then,based on Newton-Euler formula,the dynamic equation is established.The dynamic input and output of the system are analyzed and the dynamic simulation analysis of the mechanism is carried out by using the dynamic simulation,which provides an effective theoretical basis for the manufacture of the prototype.Finally,a simple prototype experiment platform is set up,and the related experiments are carried out,and the actual aid effect is evaluated comprehensively.