The Hydraulic System Design And Simulation Of7-DOF Lower Limb Exoskeleton Robot

Lower limb exoskeleton robot likes a insect exoskeleton,is a wearable,interactive bionic robot.In this paper,it contains four parts mostly:design and optimize the structure of exoskeleton robot,hydraulic drive system design,the foundation of mathematical models and simulation analysis based on AMESim.The structure design main contains joints design and optimization,it can recur all functions,with7-DOF,of human lower limb basically. The drive system adopts hydraulic pressure system and differential connection.The differential hydraulic cylinder raises the efficiency and decreases the loss of the energy.According to the working principle of valve-controlled cylinder system,the mathematical equation of the system was established.Finally,use AMESim to verify the performance of the hydraulic system.The height range of the mechanical structure of the lower limb exoskeleton robot is1051mm to1251mm.Its maximum length is654mm and the width is385mm.In addition to the ankle rotation in the direction of dorsiflexion/plantar flexion,the mechanism can meet the different rotation requirements of the human lower limb joints. It is suitable for the people whose distance from hip to the ground is within the range of851mm to1051mm,whose hip width does not exceed375mm and whose weighing is less than80kg.