General Purpose Enhanced Exoskeleton System Platform Research

Aiming at the urgent need to help the aged and disabled by the aging of the population,this paper puts forward the design scheme of the exoskeleton booster robot based on the pushpull flexible shaft transmission.The scheme includes the design of robotic arm for bionic upper limb,kinematics analysis of upper limb robotic arm,and production of master-slave controller for upper limb robotic arm,which mainly completes the following aspects of work.Firstly,in the aspect of mechanical structure design,this paper puts forward the idea of push-pull flexible shaft transmission and designs an energy-increasing exoskeleton prototype based on this.In order to improve the space utilization of elbow joint,the driving structure of three degrees of freedom of the upper limb manipulator is designed centrally on the shoulder.The processed exoskeleton prototype has 8 degrees of freedom to meet certain assisting-power requirements.Secondly,in the aspect of single arm Kinematics and motion trajectory analysis of upper limb robotic arm,the paper completes the calculation of the positive inverse general solution of single arm kinematics of upper limb exoskeleton and made kinematic analysis software.This paper analyzes the movement rules of single arm of upper limb manipulator in elbow,elbow swing and elbow extension to verify whether the established model can meet the motion requirements.Thirdly,In terms of the design of the exoskeleton computing platform,the production of the service-based upper limb exoskeleton system analysis platform was completed.According to the requirements,the functions of different software are integrated into the service platform,the data transmission between the server and the client is realized by socket communication,and the motion analysis of the upper arm is realized.Fourthly in the design of motion controller,the design of master and slave controller is completed,realizing the driving control of single rotating joints of upper limb manipulator.According to the motion characteristics of the exoskeleton robot,the driver scheme of the single arm master controller of the upper limb exoskeleton manipulator is determined.The controller includes system power supply,communication modules,drive modules,collision avoidance system and so on.On the basis of the above research,this paper completes the design and manufacture of the exoskeleton prototype based on the push-pull soft shaft transmission,and realizes the motion control of the robotic arm of the external skeletal upper limb,which has certain reference significance for the low cost research of the external skeletal robot.