Design Of Handling Assistance Exoskeleton Robot Based On Large Stamping Parts

Assisted exoskeleton robot(AER)has been widely concerned and researched by robot related field workers all over the world.It combines human "intelligence"with robot"physical strength" perfectly,improves human mobility and durability,and is widely used in medical rehabilitation,military and industrial fields.At present,there are many researches on the lower limbs,upper limbs or single joints of AER,and the products are expensive;the whole body AER(WBAER)is mostly used in the field of medical rehabilitation,with low driving power,which is difficult to meet the needs of heavy load assistance.Therefore,it is of great significance to study an WBAER with flexible structure,high power assisted performance and reasonable price.Based on the analysis of the human body structure and motion mechanism,combined with the design goal of handling assistance,in order to improve the carrying capacity of the upper limbs,the walking stability of the lower limbs and reduce the physical consumption,a whole body handling assistance exoskeleton robot(WBHAER)is proposed,and its overall scheme is designed from the aspects of drive,sensor,control and power system.Considering the structure of exoskeleton from bionics and other design perspectives,a three-dimensional solid assembly model of the whole body handling assisted exoskeleton is established by using Creo software,including back frame,upper limb parts,exoskeleton waist,lower limb parts,etc,and the key parts are analyzed by finite element statics and optimization to ensure that the structure can meet the requirements of strength and rigidity,and optimize the structure to make it lightweight.According to the analysis of exoskeleton’s mechanical structure and transportation process,the different positions of lifting,lowering and transportation are selected,and D-H method and Lagrange method are respectively used to analyze the kinematics and dynamics of WBHAER,and Adams software is used to simulate the kinematics and dynamics of exoskeleton.By analyzing the cognitive interaction between wearer and exoskeleton,the human-computer interaction system scheme is determined.According to this scheme,the motion information acquisition system and motion intention recognition system are designed respectively.The motion intention recognition system respectively analyzes the two conditions of lower limb walking and upper limb carrying.The lower limb walking analysis uses BP neural network motion pattern recognition system of the first generation of lower limb assisted exoskeleton robot in laboratory to judge the lower limb movement intention of the wearer.The PD control and recognition of the independent joint is used in the upper limb handling analysis,and the interactive joint simulation of Adams and MATLAB is used to effectively improve the motion performance of the exoskeleton,shorten the development time of the prototype,and provide theoretical basis for the prototype experiment of the exoskeleton robot.A prototype of WBHAER was developed,and an experimental platform was built to experimentally verify the response speed and assist performance of WBHAER.