Research On The Design And System Simulation Of A New Type Of Ankle Joint Of Lower Extremity Exoskeleton Robot

The exoskeleton exoskeleton robot was originally applied in the military field and has now penetrated into many fields such as rehabilitation medicine,agriculture and industry.China is currently facing problems such as accelerating population aging and more and more people with disabilities.They urgently need a convenient device for walking and rehabilitation training.The application of lower extremity exoskeleton robots provides an effective solution to these problems.This paper designs a lower extremity exoskeleton robot,adopts an anthropomorphic structure,and optimizes and optimizes the ankle joint.It mainly involves the structural design and simulation analysis of the exoskeleton of the lower extremity.It uses a combination of theoretical analysis and simulation experiments to study the specific content.as follows:Through the study of the human lower limb movement mechanism and human gait,it provides the basis for the determination of the outer limb exoskeleton dimensions and degrees of freedom.Based on the structural characteristics of the human lower limbs and the functional requirements of wearability,the drive scheme,control scheme,and mechanical structure scheme were determined.Through the analysis of several commonly used ankle joint structures of exoskeleton robots of the lower extremity,the deficiencies were found out.The influence of the position of the rotation axis of the exoskeleton on the sacroiliac joint movement of the human body was analyzed,and a new type of robotic exoskeleton robot ankle joint was designed.D-H method was used to analyze the kinematics,kinematics equations were established,the relationship between joint angle and foot position was established.Monte Carlo method was used to solve the working space of the exoskeleton foot and verify the correctness of the kinematics equation.The kinematics model was analyzed for speed,and a speed Jacobian matrix was established.The relationship between the joint rotation speed and the foot speed was established.The mechanism dynamics parameters were introduced and the dynamical theory analysis was performed using Lagrangian dynamics method.The dynamic model of exoskeleton robot was established.The ADAMS was used to simulate the wear of the exoskeleton and the elastic performance of the passive joint of the ankle joint.The drive is added to the exoskeleton motor of the lower extremity.The flexible leg connection between the exoskeleton leg bandage and the human leg makes the walking simulation result closer to the real situation,which verifies the feasibility of ADAMS simulation analysis and provides a basis for selecting the drive motor.Using Simulink simulation of ankle joint control,using PID feedback adjustment mechanism,establish a DC motor simulation model,dynamic simulation model,control system simulation model for joint simulation.Through the detected joint angle actual value and theoretical value deviation,to control the motor voltage change,and further control the joint,so that the joint angle theoretical value and the actual value is basically the same,to achieve the role of modular control.