Bionic Tensegrity Ankle Exoskeleton Design And Optimization Theory

Ankle joint exoskeleton robots have great application in assisting the human body in assisting human body and enhancing athletic ability.Human ankle joints consist of skeletal and muscles with bio-tensegrity system with characteristics flexible transmission of strength,movement changes,and rigidity.In terms of joint bearing and stiffness,there is a contradiction between toughness and flexibility,and often cannot meet the design requirements of the ankle exoskeleton.In response to the contradiction between toughness and flexibility of rigid exoskeleton and flexible exoskeleton,this dissertation proposed a bionic tensegrity ankle exoskeleton,and studied with the effect of an ankle exoskeleton on the human body.This study research its performance characteristics and summarize a performance evaluation method.Research mainly in the following aspects.1.Bionic structure creation and mathematical model.Starting from structural bionics,the human skeletal muscle bio-tensegrity system is analyzed and the basic configuration of the topology structure and component are designed; Considering with functional bionic,this dissertation have analyzed the ankle joint movement space to determine its basic size.Constructed a graph to build the tensegrity topology structure by connecting matrix and describe its spatial movement.2.Study on static characteristics.Starting from the external effect of the exoskeleton on the human body,the interaction force between the human body and the exoskeleton is defined.And proposed a solution method for interaction force,based on its bearinging effect on the human body,researched bearing force scope and sports space.Finally studied sports space factors and mechanisms of influencing.3.Dynamic characteristics studies.Starting from the effect of the stiffness on the ankle joint,the stiffness matrix is constructed,then the bearing stiffness and rotation stiffness are analyzed.The method of bearing stiffness is designed,the influence mechanism of the cable on the bearing stiffness is analyzed.Correctness of the algorithm is verified by simulation and experiments.A rotation stiffness tracking algorithm is proposed to study the adjustment range of rotation stiffness and the performance of the stiffness tracking.4.Evaluation method and optimization design.Based on the characteristics of bionic configuration and strength,stiffness characteristics,a method of bionic tensegrity ankle exoskeleton performance evaluation method is proposed to build an optimized design model.The optimization algorithm of the MSDNS-PSO is solved and analyzed by convergence,robustness,and correctness,and verified that the optimization results have significantly improved the results of the optimization results in sports space,bearing adjustment range,bearing stiffness and rotation stiffness.This article studied the static/dynamic performance of bionic tensegrity ankle joint exoskeleton,and proposed the optimization design and performance evaluation method,showing the advantages of the softness,bearing,and variability of bionic tensegrity ankle joint exoskeleton.Its structure design ideas,optimizing design theory and characteristic evaluation methods provide basic theory and technical support for future application of bionic tensegrity joints.