Design Of Exoskeleton Robot

Current products are faced up with multiple requirements frommarket, clients, function, machining and assembly, cost, environment andinner disturbance, etc. Besides, the intense competition makes it essentialfor a company to respond to the mentioned requirements quickly andcost-effectively. All in all, this poses a great challenge for product designs.This paper proposes an integrated modular design method and appliesit to the design of lower limbs exoskeleton rehabilitation robot. Thismethod includes traditional design procedures, namely classification ofrequirements, conceptual design, embodiment design and detailed design.Modular design method is employed in configuration and structure design.Modularized products can quickly achieve transformation of function andupgrade through reconfiguration. Moreover, three levels of optimizationrespectively in geometry, kinematics and dynamics are undertaken toensure the performance of modularized products.This paper focuses on the application of the method in lower limbsexoskeleton rehabilitation robot. First, initial design of lying exoskeletonrobot is accomplished. Then modular design method is applied to obtainconfiguration space of the robot. Several bases and exoskeleton robots aredesigned for corresponding configuration. The design of exoskeletonrobots focus on extending its compatibility with various bases while thedesign of bases focus on designing interfaces accessible to other universalparts. So initial designed exoskeleton robots can be transformed into threemodes of robots, namely lying mode, standing mode and sitting mode. Moreover, various optimizations are conducted in these designs.Solidworks kinematic simulation is used to realize kinematics optimization;dynamic models are built and corresponding simulations are enforced to dodynamic optimization; finite element analysis method is employed toensure the static and dynamic stiffness. These optimizations guarantee theperformance of modularized products.