Mechanical Structure And Control System Design Of Pneumatic Waist-assisted Exoskeleton For Heavy Handling

Nowadays,the development of intelligent mechanics,control theory and robotics is becoming more and more rapid,and the human exoskeleton has gradually become a research focus of the mechanical discipline.Research on exoskeletons in China and abroad mainly focuses on the power of exoskeletons,some exoskeletons in Europe,America and Japan have already been commercialized.However,due to the high price,no mass production and application have occurred.China is currently in the process of industrialization to informatization,requiring a lot of manpower to engage in industrial activities,so these workers are generally suffering from back and waist diseases.In order to solve the problem of back and waist diseases caused by continuous high-strength bending work in industrial production,it is very important to develop an exoskeleton that relieves the labor intensity of the worker and also protects the health of the worker.The thesis first analyzed the mechanism of human waist injury,discussed the source of waist disease and the waist injury that the human body is susceptible when working,After making statistics on 20 porters,the cause of the waist injury was obtained,and then the biomechanical analysis of the human body and the back force analysis of the bending movement were performed,which provided theoretical support and feasibility basis for the design of the waist exoskeleton.The design mechanism of the basic functions and structures that the exoskeleton needs to achieve,the freedom analysis and the establishment of the kinematics model,then the exoskeleton is planned into four modules and the overall design is laid out,making 3D model of pneumatic waist exoskeleton with Solid Works software,Then the theoretical calculation was carried out by material mechanics analysis under the condition that the waist exoskeleton load was 30 kg,and the stability of its key parts was determined,and the pneumatic tendon was used as the driving system.Finally,perform mechanical simulation on the key parts to obtain the maximum stress value and the maximum deformation to ensure that the waist exoskeleton can meet the structural strength and rigidity requirements during use.Designed an exoskeleton control system,about control strategy and control principle.The intention of human motion recognition through displacement sensors and force sensors,and displacement sensor signals are used preferentially.Through the design of fuzzy PID controller to control the servo pneumatic valve,through the pneumatic valve to further control the pneumatic tendon.C language was selected as the control language of the control system for test,and after the test,the exoskeleton control system was successfully debugged.Finally,a waist exoskeleton prototype was built as a test platform,complete stress and strain testing of key exoskeleton components,Affirmed the conclusion of the previous mechanical simulation.Convene experimenters to perform functional verification tests under the condition of a maximum handling weight of 15 kg,Through the analysis of heart rate,muscle contraction rate and Borg value,the effectiveness of exoskeleton in alleviating human transport fatigue was confirmed,and the feasibility of waist exoskeleton for transportation assistance was confirmed.