Structure Design And Simulation Analysis Of Exoskeleton Robot With Lower Limbs Assistance

At present,the problem of population aging in our country is becoming more and more prominent,and people with various motor dysfunctions are increasing year by year,which makes the demand for assisting human movement and rehabilitation training equipment increasing.This article aims at people with lower limb motor dysfunction,proposed an aid their walking and lower extremity exercise training help disabled rehabilitation robot skeleton,and carry out the structure,stability,kinematics,dynamics lower extremity skeletal robot and so help the disabled the study.First,analyze the structure characteristics and motion mechanism of the human lower limb joints.Based on the gait data in Open Sim,determine the overall configuration of the lower limb disability assistance exoskeleton robot;according to the distribution and function of human bones,muscles and other soft tissues,Carry out the design of the bionic structure of the robot.Secondly,ZMP theory as the basis to analyze the relationship between the zero moment point and the center of gravity of the body;Use CATIA to establish a simplified model of the human body wearable exoskeleton robot,and the model into ADAMS,In the case of both feet,the standard foot and height change corresponding to the standard height,the foot unchanged,the height unchanged,and the foot change are simulated and analyzed for the overall forward tilt and upper body forward angle.Then,based on the D-H parameter method and the differential transformation method,the forward and inverse kinematics of the exoskeleton robot with the help of the lower limbs are analyzed,and the kinematic characteristics of the active joints of the exoskeleton robot’s lower limbs are obtained;the hip joint parallel mechanism of the robot is based on the spiral theory Calculate the degrees of freedom with the leg-foot parallel mechanism,and use the space geometry method to analyze the forward and inverse kinematics of the two parallel mechanisms;based on the Lagrangian method to perform dynamic analysis on the single-leg support model and the double-leg support model of the exoskeleton robot,Get the dynamic relationship of the lower limb active joint flexion/extension movement.Finally,establish a virtual prototype model of the exoskeleton robot for assisting the disability of the lower limbs in ADAMS to verify the kinematics and dynamics analysis results of the exoskeleton robot;use ANSYS Workbench and Sim Solid to perform statics analysis on the hip joint mechanism and the plantar posterior force transmission mechanism,Use Sim Solid to perform static analysis on the four gait exoskeleton robots to verify the rationality of the exoskeleton robot structure design;perform modal analysis on the exoskeleton robots in the standing phase and the two-leg support phase to solve the natural frequency and vibration mode.