Research On Human-Machine Coupling Analysis And Mechanism Dimensional Synthesis For Dual Configuration Passive Exoskeletons

The advancements in robot technology have led to the rapid development of industrial automation.However,complex processes such as assembly still require significant manual labor,which can lead to work-related musculoskeletal disorders(WMSD).Poor working postures,including overhead arm positions,half-squatting,and prolonged bending,contribute to the high prevalence rate of WMSD exceeding 65%.To protect worker safety,exoskeletons have been introduced as wearable devices that assist human movement.Passive exoskeletons,due to their lightweight design,are currently prevalent in the industrial field,although they still face challenges such as limited precision assistance,difficulty in integrating multiple functions,and unwieldy size and weight.In response to these challenges,this dissertation proposes a dual-configuration passive exoskeleton mechanism that prioritizes low constraint,strong assistance,and lightweight design,providing new insights into efficient passive exoskeleton assistance.The primary research contents of this dissertation are as follows:The present study puts forth a dual-configured exoskeleton human-machine coupling assistive system,developed on the basis of hierarchical weighted cloud analysis.Drawing on an analysis of human operating posture,a rapid whole-body assessment method and human factors engineering simulation are performed to reveal the moment characteristics human joints.The human-machine closed-loop degrees of freedom are used as constraints to construct multiple human follower configurations of the exoskeleton,and the analysis and optimization of the follower configurations are carried out through hierarchical analysis and cloud modeling.A cross-link mechanism satisfying the shoulder-humeral rhythm characteristics is designed and integrated into the upper limb exoskeleton.The matching scheme and evaluation system of the follower and assistance configuration are constructed,and the integrated cloud model is again used to obtain the optimal configuration of the dualconfiguration exoskeleton.Considering the requirements of strong assistance and low motion constraint,a joint collaboration-assisting continuity upper limb exoskeleton scale synthesis method is proposed.The human-machine coupling model is developed.With the objective of minimizing the root mean square deviation of the joint angle,the parameters of the follower configuration are optimized.With the linear movement of the pawl module as the optimization target,the big arm linkage is optimized.The computational model of the interaction force between the exoskeleton and the human body in two configurations is developed.The assistance characteristics of the exoskeleton under full range of arm motion are analyzed.The results of the analysis demonstrate that the designed upper limb exoskeleton offers a highly efficient and precise assistive capability.Considering the requirements of various posture assistance of the lower limbs and the light weight of the structure,a posture stable – load uniform lower limb exoskeleton scale synthesis method is proposed.The human-machine coupling model is developed.With the vertical stability of the torso as the objective function,the sitting angle of the exoskeleton and the human body is optimized.The parameters of the support structure are optimized by minimizing the forces of the multi-link.The computational model of the interaction force between the exoskeleton and the human body in two configurations is established,and the effect of the exoskeleton on the posture of the torso is analyzed.The analysis results indicate that the designed exoskeleton is capable of effectively improving posture and sharing the weight of the human body.An experimental platform and exoskeleton prototype are constructed to verify the efficacy of the dual-configuration exoskeleton.The mass of the upper limb exoskeleton is1.3 kg,with no notable differences observed in curve tracing or arm range of motion.The lower limb exoskeleton mass is 1.5 kg,resulting in a 54%-67% reduction in plantar pressure and a 59%-77% reduction in torso inclination.The activation of several related muscles in the upper and lower limbs is significantly decreased.In comparison to analogous research conducted domestically and internationally,the exoskeleton presented in this dissertation exhibits a relatively lower self-weight,while providing substantial assistance with minimal constraints.In summary,this dissertation presents a novel strategy for passive exoskeleton assistance that holds significant potential for practical implementation.