Mechanical Design And Simulation Analysis For A Lower Exoskeleton Robot

With the development of automobile industry in China and the attention to the body of industrial workers,the exoskeleton robot is a booster equipment which have gradually become a research hotspot in the industrial field.In this paper,the exoskeleton robot is the research object,I designed an exoskeleton robot that applied in the industrial field.The main research work of this paper is as follows:(1)This paper analyzes the structure of human bones,analyzes the mechanism and range of motion of the lower limbs of the human body,analyzes the gait of the human body,and then selects the size adjustment range and the allocation of freedom.Finally,I used the human body motion simulation software Open Sim to simulate the human body motion,after this step,I obtained an the joint parameter change curve of the lower limbs.(2)In this point,the exoskeleton robot uses 3D design software to perform 3D modeling,and describes its joints and length adjustment structure finely,and selects the drive motor and reducer.I used the finite element analysis software called Abaqus to analyze the mechanical strength and modal analysis of the standing phase,single-leg support phase,double-leg support phase and swing phase of the exoskeleton robot.Through the strength check,it can be concluded that the selected materials and structures meet the requirements;through the modal analysis,the structure mode and vibration frequency in the third-order mode can be obtained to avoid resonance in reality.(3)I used the D-H parameter method to establish the kinematics model of the exoskeleton robot.simultaneously,the robot workspace is solved and the trajectory simulation is performed to verify the kinematics model based on the Robot toolbox in MATLAB.I used the Lagrange method to establish the dynamic model of the exoskeleton robot,so,the joint motion angle can obtain by Open Sim simulation which used as the dynamic input variable.The dynamic model is established in MATLAB for verification,and it is compared with the human body motion gait curve.Through the establishment of kinematics and dynamics models,I collated the relationship between the posture relationship,the velocity relationship and the torque of each joint is obtained.Finally,I used the simulation software Adams to run the motion simulation,and the joint motion parameters obtained by the Open Sim software.These lower limb parameters compared to verify the feasibility of the structural model design.