Modeling And Control Simulation Of Exoskeleton Robot Humanoid Motion

The lower limb wearable exoskeleton robot is a human-machine integrative system for walking and loading assistance.This robot combines the mechanical bearing strength of the exoskeleton with the human brain intelligence by fusing biomechanics,driving method,human-intend recognition,coordination control,and information fusion algorithm etc.It is an important technology in resolving the special duties such as war-load marching,medical rehabilitation,as well as mountainous relief.It has great application prospects and scientific research significance.This paper chooses the gait planning and exoskeleton robot bionic structure modeling and simulation as the main entry point to study the interaction law between exoskeleton and wearer and the coordinated control methods.It is expected to achieve good results in modeling and simulation of humanoid posture in this field and to help man-machine interaction.First of all,through the study of the mechanism of human lower limb joint movement to determine the basic parameters of human structure and gait movement,we independently develop the human lower limb biological structure platform.Later,we use the multi-sensor system to real-time collect the human gait data and establish the gait database.Secondly,from the perspective of the modeling,SimMechanics software is used to build the seven-links model of humanoid lower limb and the gait data is used to simulated analysis.In order to research the control system,we combine SimMechanics software with Simulink.Thirdly,according to the body structure,we design the mechanical structure of the lower limb exoskeleton robot.The three-dimensional off-line simulation system is established by using ADAMS simulation environment and SolidWorks software.The distribution regularity of kinetic parameters of the normal walking gait of the lower limb joint is analyzed,which laid the technical foundation for the design of the exoskeleton man-machine integration system.Finally,this paper simulates experiments at virtual prototype level.By adjusting the structural parameters of the prototype,the requirements of the control parameters between the lower limb exoskeleton robot and the human are gradually realized.The gait motion real-time data acquisition experiments and the parameters correction pre-experiments are carried out on the experimental prototype.It can realize the goal of manned exoskeleton robot movement and coordination movement.