Research On The Structure Design And Control Method Of A New Type Of External Skeleton Robot

Intelligent lower limb prosthesis is the most ideal tool to compensate the function of the lower limb.At present,foreign scholars study the intelligent artificial leg on passive/semi-active,although the patients can achieve the function of daily walking,it is difficult to realize the weight bearing walking.Exoskeleton robot is a kind of mechanical and electrical equipment which can be worn on the human body and can assist the human body to walk.It can enhance the body's carrying capacity,although the robot has been applied in many fields such as military and medical treatment and has realized the commercializationt,but only applies to legged crowd.For patients with lower limb amputation daily walking and walking function demand,a new type of external skeleton robot is proposed based on the research of exoskeleton robot and intelligent lower limb prosthesis in this paper.Main contents include:(1)To analyze the biological and kinematic mechanism of the human lower limb walking process and to study the requirements of the new type of external skeleton robot in the structural design process.Based on the principle of bionics and ergonomics,the mechanical structure of new type of external skeleton robot was designed,including joint structures,drive solutions,DOF configuration etc,and the knee joint was analyzed.(2)Through the analyzing for the working mechanism of the robot,dynamic simulation was done based on the virtual prototype technology,the driving speeds and torques of each joint were obtained.Based on joint kinematics and dynamics information,the drive system of each joint was designed.(3)Based on Lagrange's first equations and segmentation modeling idea,the kinematics model and dynamic model of the swing phase and the supporting phase(single leg support phase and the leg support phase)were established respectively.The theoretical calculation results were compared with the walking simulation results,and the rationality of the dynamic modeling was analyzed.(4)In view of the characteristics of the control system of the new type of external skeleton robot,the control method of the new type of robot was studied.In order to illustrate the limitations of the method,the controller with PD feedback was designed,and the dynamic model parameters were simulated and analyzed in the case of accurate and inaccurate parameters.Then,the sliding mode robust controller was designed in the case of uncertain model parameters,and the feasibility of the control method was verified by simulation.