Servo Control And Virtual Simulation Analysis Of Lower Limb Exoskeleton Robot

The lower limb exoskeleton is a mechanical device that is tied to the human body.In the course of the movement,it can effectively identify the purpose of the human body,coordinate the human body action,and then increase the strength of the strong,supporting the body to complete the movement.The exoskeleton robot integrates different technical fields.It is designed to be dynamic and intelligent human robot of organic combination,supplement human athletic ability,make the human machine have strength and endurance,so as to achieve a certain function.In this paper,we focus on the key technologies,such as geometric adaptation,motion coordination,intelligent control,and so on:According to the requirements of the exoskeleton concertedness,the joint structure and motion characteristics of the lower limb of the human body are analyzed,and the use of simulation,the motion state of lower extremity joints to simulate the human body motion,is designed to meet the human body size,the exoskeleton device body consistent with the distribution of degree of freedom.In order to ensure the realization of the movement function of the exoskeleton,meet the requirements of the human body kinematics,exoskeleton kinematics analysis was carried out using D-H method,parameter modeling,kinematics problem solving,the numerical method for inverse kinematics analysis,the rationality and the use of Adams software simulation to verify the theoretical model,to provide a theoretical reference for the optimization design of the late lower extremity exoskeleton.For servo control of exoskeleton,the working principle of different impedance control mode control are introduced,the different stages of the Lagrange method of foreign skeletal movements respectively for dynamic analysis,the design of the exoskeleton based on the impedance control,construction of single joint swing model,based on the use of MATLAB simulation software for power abroad the bones were single joint impedance control to follow the effect of simulation,analysis of the influence of impedance parameters on the following performance.On the basis of the above research,the constraint set,the exoskeleton model and human model are combined to construct human machine combined simulation model,simulation of movement,compares the joint angle of the exoskeleton joint angle and body of the analysis of the coordination of the exoskeleton,and human machine joint load simulation,compare thelower limb joint torque obtained human joint torque and body load when the power property verification exoskeleton.