Design Of An Upper Limb Exoskeleton Robot Driven By Hydraulic

Exoskeleton robot is a wearable mechanical device which can provide additional power, follow the human body movement, and bear the main load, enhance the function of the human body. Exoskeleton robot usually includes powered exoskeleton robot and medical rehabilitation exoskeleton robot. Exoskeleton robot technology is an important branch and direction of robotics research field. Research of exoskeleton robot started earlier but developed slowly, it is still at the exploration stage. It also didn’t get the promotion and application. The exoskeleton robot can be divided into upper limb, lower limb and body exoskeleton robot according to the different worn parts. This paper mainly researches on the upper limb exoskeleton robot. This paper designed an upper limb exoskeleton robot driven by hydraulic, transmission by wire rope. In order to realize the strengthen function and rehabilitation training function, the main research work of this paper can be summarized as follows:1) This paper surveys the development history and current research status of the exoskeleton robot, summarizes the technical difficulties in the development of upper limb exoskeleton robot.2) According to the design requirements and the reference of human upper limb motion mechanism, this paper puts forward the design scheme of the exoskeleton robot, adopts anthropomorphic design overall design of upper limb exoskeleton robot mechanical structure. The kinematics and dynamics of this exoskeleton robot are analyzed.3) Hydraulic system on the upper limb exoskeleton robot is designed and analyzed. Summarized the application of hydraulic technology in the field of the exoskeleton robot. The control circuit of hydraulic system and the key hydraulic components is designed.4) This paper built a prototype for upper limb exoskeleton robot and its experimental system.5) In order to realize the rehabilitation training function and strengthen function, this paper proposed the position servo control and force servo control method. The control and detection software used in this system is developed. Finally, the machining experiment validates the proposed method.