Research On The Stability Of Mine Exoskeleton Robot

With the development of coal mining technology,the mine is also progressing in the direction of mechanization and automation.The application of mining exoskeleton robots helps mine workers carry heavy objects and carry out operations with pneumatic picks.This kind of mechanism can greatly reduce the labor of workers and improve production efficiency.Stable walking is a key issue in the study of exoskeleton robots,as well as a fundamental prerequisite for other functions.When the human body is wearing an exoskeleton robot for load-bearing operations,due to the complex road conditions underground and the harsh working environment,the force of the exoskeleton man-machine system is also more complex and changeable,making the stability of the exoskeleton man-machine system more difficult to control.Therefore,the research on the stability of exoskeleton robots is of great significance.In this paper,the three most frequent working conditions under the mine,namely,walking on flat ground,crossing obstacles,and climbing slopes,are selected for stability research.On the basis of consulting and researching a large amount of literature,this article has done a detailed research and analysis on human gait and ZMP(Zero Moment Point)stability theory.On this basis,it is derived that the human body and exoskeleton human-machine system under different characteristic actions The ZMP trajectory calculation equations are calculated,the ZMP trajectory diagram is made and the stability margin theory is used to quantitatively analyze the stability of the exoskeleton human-machine system.The main research work is as follows:First,the human walking gait is studied and analyzed,and the gait range of the study on the stability of the human body and the exoskeleton human-machine system in this article is determined to be a complete gait interval.According to the research on the ZMP theory of the biped robot,the stability criterion of the exoskeleton human-machine system is determined,and the concept of stability margin is used to further quantify the stability of the exoskeleton humanmachine system.Secondly,model simplification of human body and exoskeleton humanmachine system.The human body is simplified to a five-link model,and the exoskeleton manmachine system is simplified to a seven-link model to facilitate kinematic analysis,and the ZMP coordinate expression of the human body and the exoskeleton man-machine system is derived based on the principle of torque balance.Then,the human body model and the exoskeleton human-machine wearable model are established through Adams software,and a complete gait interval kinematics and dynamics simulation is performed to obtain the simulated ZMP trajectory under three characteristic actions,which is determined according to the ZMP stability criterion Its stability is analyzed according to the concept of stability margin.Finally,the human body and the exoskeleton human-machine system were subjected to prototype experiments under three characteristic actions respectively,and the experimental ZMP trajectories under the three characteristic actions were obtained.The stability was judged according to the ZMP stability criterion,and the stability was analyzed according to the concept of stability margin.stability.By comparing the stability margin of the human body and the exoskeleton human-machine system,the influence of the three characteristic actions on the stability of the human body after wearing the exoskeleton is known,and the reliability of the exoskeleton when used in the mine is guaranteed.