The Research On Wearable Exoskeleton Robot Based On The Pneumatic Muscles

The research of exoskeleton assistant wearable robot a combination of disciplines of robotics,human anatomy,intelligent control theory,human-computer interaction research etc.The main role of the wearable exoskeleton assistant robot is to enhance the human working capabilities,to expand the scope of human labor.With development of robotic technology,studies and applications of the exoskeleton assistant wearable robot have been moving forward ever fast,and it has been widely implemented in the military and medical areas.However,for aspects of information exchange,control,mechanical structure,energy and security,the robotic techniques are still not perfect.Therefore,considering the influence of various factors,finding a preferred solution is the direction to make the exoskeleton robot to assist the human better.Secondly,the kinematics and dynamics modeling of mechanical arm were conducted.ADAMS was applied here to do dynamic simulation,and trajectory and the associated moment of each joint was achieved.The simulation sources of error were analyzed,the structural parameters were adjusted accordingly,and the structures of wearable robot were improved.Thirdly,intelligent control was conducted for the flexible exoskeleton assistant robot,fuzzy adaptive control method based compensation was studied,the trajectory tracking simulation of the mechanical arm was carried out.Based on the analysis of the tracking tests,the feasibility of the wearable exoskeleton assistant robot was validated.Finally,the performance simulation of a the flexible exoskeleton assistant wearable robot was conducted.Through the human lifting experiments with the wearable robot,and the exoskeleton arm trajectory tracking tests,the performance of cooperation between the human body and exoskeleton robot was verified.