Single Lower Limb Exoskeleton Robot Structure Design And Simulation Analysis

This article has developed a single limb exoskeleton robot that can help the user to help the user,who can not only apply to the lower limb elderly people with disabilities or disabled people to help them restore the ability to walk;but also can be applied to the military Field,enhance the athlete's athletic flexibility,improve its speed of movement.The study of the robot has a certain practical significance and market prospect for improving the quality of life and reducing the social burden of the family.Through the study of relevant literature at home and abroad,it is concluded that the external skeletal robots,which can help the patient to help the running,are complicated and the structure is bulky.And mostly for the lower limb power assisted by the equipment,can not be very good to meet the requirements of single-extremity patients.This paper is mainly based on ergonomics,combined with anthropomorphic design and modern mechanized design method.Developed a lightweight structure,simple operation,safe and reliable power-assisted walking robot,the main contents of the paper are as follows:(1)Access to domestic and foreign literature,external skeletal robot to understand.And the body of the skeleton model and the human body movement mechanism research,To provide the basis for the next part of the structural design(2)The mechanical structure of the external skeleton robot is designed,the three-dimensional model is drawn,and its details are introduced in detail.The ANSYA Workbench software was used to analyze the static components of the parts,and the strength of the main force bars was checked,and the corresponding driving system was selected for the whole device;(3)The kinematics and dynamics model of the exoskeleton robot were established,and the DH parameter method and the Largrance method were used to solve the problem.The relationship between the pose and the velocity of the outer bones was obtained.Between the force and the moment;(4)Using the virtual prototyping simulation technology,the simulation model is introduced into ADAMS,and the simulation of the walking movement of the exoskeleton robot is carried out in this software,And carried out the experiment,to verify the rational structure of the design,comfortable to wear,safe and reliable...