Design And Research Of Lower Limb Exoskeleton Robot

In recent years,with the development of science and technology,lower extremity exoskeleton robot,as a wearable,human-machine interactive bionics product,began to get people’s attention,the combination of the exoskeleton structure and the lower limbs of the human body coordinate with the human body movements during exercise,which can effectively reduce the wearer’s physical energy consumption and assist the human body in normal gait walking.The thesis designs and studies the lower extremity exoskeleton robot.Based on the theoretical knowledge of the human lower limb bone structure and the rotation range of the human joints,the thesis uses SolidWorks software to anthropomorphically design the joint structure of the lower limbs,and in order to balance the gravity moment generated by itself,the structure uses a pneumatic balancing device,so that it has a good wearing effect and load capacity;the genetic algorithm is used to optimize the installation parameters of the hydraulic cylinder and the pneumatic balancing device,lower limb structure design layout is more reasonable,after optimization calculation,the optimal thrust of the hydraulic cylinders at the hip and knee joints required by the hydraulic system is obtained.Combining the relevant theoretical knowledge of kinematics and the lower limb structural design scheme,D-H coordinate system is established,the model is analyzed by positive kinematics,and the homogeneous transformation matrix of each joint link is obtained;a one-leg lower extremity exoskeleton dynamic model was established,and the Lagrangian method was used for dynamic analysis;the whole structure of lower exoskeleton robot do walking simulation analysis by using ADAMS software,the curve of each joint angle,angular velocity,the displacement and velocity curve of the hydraulic cylinder piston are obtained,the rationality of the design of the lower limb structure and the stability of walking gait are verified,then,the hydraulic system components of the lower exoskeleton drive are designed and the parameters of the lower extremity drive hydraulic system are calculated.The mathematical model of the hydraulic servo control system of the lower exoskeleton robot is established,and the MATLAB software is used to analyze the dynamic performance of the hydraulic system;AMESim software is used to model and simulate the servo valve and servo control system,the performance of the hydraulic system under different system parameters and loading conditions is obtained.and the parameters of the system with faster response speed are determined,the piston displacement curves of the hydraulic cylinder are obtained under different input signals,which verifies the response characteristics and stability of the designed hydraulic system;and the overall hydraulic servo control system is simulated,the displacement curve of the hydraulic cylinder piston in a gait cycle of lower limb walking is obtained,it meets the design requirements of the system’s working principle and achieves the purpose of accurately controlling walking gait,it further proves that the designed hydraulic system has better response speed and stability.