Design And Experimental Research Of A Power-Assist Arm System

Human being has to face more and more challenge from nature environment, with the development of society. The main problems include life succor of nature disaster, surviving in inclement environment and so on. Most of the situations mentioned above will test the ultimate ability of human being. Human ability, like walking long-distance with heavy load, lifting big mass and stride huge clog etc, still need to be enhanced with the help of power assist human body system. As a rising research target, power assist system plays importent roles in different application area; including human body rehabilitation, automobile engineering, industry scene and armament etc.The human power-assist arm system with base on control strategy of EPS with the target of realizeing arm power assist is investigated in this paper. The research include analyse of system structure and design of control strategy of system. In order to satisfy the functions of climb, push-and-pull, and heavy lift and so on, an experimental prototype is developed to implement and to test the typical control logic of power assist system. The components of the experimental prototype include exoskeleton mechanical systems, sensor, IC control board, computer development board, electromotor with driver, terminal etc.This paper focus on theory and application of the system refers multidisciplinary, and the main content of the research include:1. Survey and analysis on current human power assist mechanical system. A new exoskeleton mechanical structure is designed. And an experimental prototype is developed to demonstrate the design.2. The kinematics and dynamics simulation model of the arm exoskeleton are built via the kinematics and dynamics analyze of the human-machine system. The simulation model demonstrates the mathematic model of kinematics and dynamics for our arm exoskeleton system, and support to study the tracking control strategy.3. The theory of control strategy is analysed and the typical power assist characteristics curve of control strategy mathematic model is built. Then the hardware and software are designed.4. The validity of the control strategy is proved via the experiment data analysis of the experimental prototype.