Study On The Characteristics For Hybrid System Of Mechanical Exoskeleton

Based on the harsh conditions of work environment in mine, the core difficulty is that the contradiction between the control system of individual environmental and load-bearing capacity by human. However, the mechanical exoskeleton is an effective way to solve this contradiction. At the same time, the difficulty of mechanical exoskeleton is the study of its power system. Now, most of power systems for exoskeleton robot at home and abroad are mainly in battery-powered systems. But the moving range and load weight are limited for capacity and efficiency of the battery.Therefore, an urgent problem is how to get a durable and efficient power system. To solve the above problem, we propose a hybrid system to achieve long-term and efficient energy supply. It can meet energy needs of long-distance, high load, frequent starts and stops for mechanical exoskeleton.Firstly, the clinical gait analysis data(CGA) were used for the analysis of human gait. The joints energy demand of ankle, knee and hip, and the overall kinetic energy demand for the mechanical exoskeleton motion were calculated. So the power index was provided for the establishment of hybrid system.Then, the hybrid system of mechanical exoskeleton was arranged parallel arrangement by comparing the power system. And the hybrid transmitter was designed as coupling components. At the same time, the matching design of system parameter was used for the necessary equipment. At last, a mechanical exoskeleton hybrid system test bench was established. And its dynamic performance was experimented.Then, according to experimental data, a simulation models of hybrid system for mechanical exoskeleton was established in Matlab/Simulink. And simulation models of the motor, the engine and the hybrid drive mode were experimented. At last, the simulation results were compared with experimental results and then the simulation model was corrected and verified.Through this study, a hybrid system that has a small size,light weight, high efficiency and environmental protection was eventually established.This system can meet energy needs in a variety of operating conditions when the mechanical exoskeleton was applied in down-hole applications.