Design And Research Of Drive System Of Exoskeleton Robot For Mining

With the gradual maturity of exoskeleton theory and technology,exoskeleton equipment is widely used in all fields of society.There are a lot of heavy manual labor in the mine,so this paper proposes to develop the exoskeleton robot to assist the manual to complete these heavy manual work.In this paper,the driving system of the mining exoskeleton robot is taken as the research object,and the driving system of the mining exoskeleton robot is analyzed and studied in detail by means of exoskeleton kinematics knowledge and software modeling and simulation.The details are as follows:(1)The joint configuration and driving theory of the exoskeleton robot are analyzed and studied.According to the related principles of anthropomorphic bionic machinery and ergonomics,the degree of freedom and angular motion of exoskeleton joints aredetermined.ADAMS was used to simulate walking with human body wearing.According to the data of joint torque and plantar pressure obtained from the simulation,the driving hydraulic cylinder was determined to be actively driven when placed at the knee joint of lower limbs,and no driving components were set for other joint degrees of freedom.The model was abstracted into a multi-joint connecting rod structure,and the kinematics information of the lower limb was analyzed.Lagrange method was used to analyze the dynamics of the exoskeleton,and the dynamics equation of the exoskeleton was deduced to understand the relationship between the motion of the exoskeleton and the forces and moments of each joint.The simulation data of the joint moments and the planar pressure provided a reference for the design of the driving system.(2)Combined with the working conditions of the exoskeleton,the influence of coal mine safety on the design of the driving system of the mining exoskeleton robot is analyzed.Two sets of driving schemes of the mining exoskeleton robot are designed,and the optimal scheme is selected through analysis and comparison.Clear exoskeleton of pneumatic and hydraulic hybrid principle,using CAXA software rendering drive principle model,discuss the correctness of the driver model analysis,and by using AMESim software of hydraulic valve control hydraulic cylinder system model simulation,the maximum overshoot to understand drive system control precision and following the influence of sex,on the premise of ensure the control precision,The data of piston rod diameter and displacement are selected.(3)The design of the exoskeleton robot height 1650 mm ～ 1850 mm,wearing the exoskeleton prototype,exoskeleton robot assistance effect and follow-up experiments were carried out.The exoskeleton robot walking experiment on the ground was carried out,and the plantar pressure under the human body and wearing the exoskeleton was analyzed to understand the assistance effect of the exoskeleton.The following experiment of the exoskeleton robot was carried out,and the angle data were compared and analyzed.The mining exoskeleton robot designed in this paper has reduced the load of human body by56.4% in terms of power assist performance.In terms of mechanical leg following,the maximum error of the left leg is-2.1°,and the maximum error of the right leg is 2.2°,which shows good following performance.The designed exoskeleton drive system is sensitive,stable and responsive.