| The existing exoskeleton assisted robots in domestic and abroad are expensive and complicacy in structure,and do not apply to the actual demands of ordinary laborers in China.Therefore,it is of great significance to design an exoskeleton assisted handling robot to suitable for the needs of ordinary workers in China.Therefore,an exoskeleton assisted handling robot with relatively simple structure and relatively low cost is designed in this disseration.The structural design,static analysis,modal analysis,kinematics and dynamics theoretical analysis,virtual prototyping simulation,control system simulation and analysis are performed for the exoskeleton assisted handling robot.The specific research work and achievements are as follows:(1)Based on a comprehensive analysis of existing exoskeleton assisted robots,an exoskeleton assisted handling robot which is relatively simple in structure and suitable for common laborers' needs is designed.The static analysis and modal analysis of the robot's structure were carried out.The finite element model of the exoskeleton assisted handling robot was established.The places that did not meet the design requirements were improvement,and finally the designed structure was in line with the design requirements.(2)According to the structure of the upper and lower limbs of the robot,the positive and inverse kinematics of the upper and lower limbs are analyzed.And the D-H coordinate system of the robot is established.The forward and inverse kinematics equations of the upper extremities and the lower extremities of the exoskeleton robot are obtained.The solution results were substituted into special positions to verify the correctness of the positive and inverse kinematic equations.The exoskeleton was used to help the robot lower limb simulation model.Using Robot Toolbox in MATLAB,the motion space and trajectory of the lower extremity of the exoskeleton assisted robot was solved,and the kinematics of the exoskeleton lower limb was verified.The theoretical analysis of the dynamics of the external bone assisted robot,based on Lagrangian dynamics,obtained the torque equations of each driving joint of the robot.(3)Based on the virtual prototyping technology,a virtual prototype simulation model of the exoskeleton assisted handling robot was established,and the simulation and simulation of the carrying action and gait movement of the exoskeleton robot were performed.In the analysis of transport operations,a simulation driving function of the transport operation was established.The results showed that the torque and angular velocity of the main joints during the transport movement correspond to the normal range of motion of the human body.In the analysis of gait movements,the trajectory of the lower limbs of the human body is planned and the gait planning trajectory is verified.Finally,using the data obtained by the gait planning,the gait movement of the exoskeleton robot and the gait of the human-machine coupling model are completed.The results showed that the gait movement was within the range of normal human motion,and the gait similarity of the human-machine coupled model was close to 1.(4)The simulation models of robot PID control,fuzzy control and fuzzy PID control are established in MATLAB/Simulink respectively,and the control effects of different control methods are analyzed and compared.The results show that the fuzzy PID control has faster response than other control methods.Based on ADAMS and MATLAB co-simulation technology,the fuzzy PID joint control simulation model is controlled and simulated.The simulation results show that the lower extremity joint gait motion trajectory of the exoskeleton robot is nearly identical to the input human gait motion lower limb joint angle and has a high response characteristics and stability characteristics.In this disseration,through the design and simulation analysis of the exoskeleton assisted handling robot,the reliability and stability are verified,which lays the foundation for the next exoskeleton assisted handling robot. |
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