Upper-limb Assist Exoskeleton System Design And Research For Overhead Work

Currently,automated equipment is gradually replacing manual labor,but relying on manual labor in special environments is still one of the most reliable methods,such as dynamic train assembly and maintenance in the transportation industry,plastering in the construction industry,and material transfer in disaster relief involving overhead work.However,long-term overhead work can cause occupational musculoskeletal injuries.Research has shown that powered exoskeleton robots can provide effective assistance to wearers to relieve muscle fatigue.Therefore,this paper designs an upper limb powerassisted exoskeleton robot for overhead work,which is of great significance in reducing the incidence of occupational musculoskeletal injuries.The main research work of this paper includes:(1)Analysis of human upper limb motion characteristics for overhead work.The wearable exoskeleton system belongs to the human-machine hybrid system and has a strong coupling with the human body.Therefore,this paper analyzes the physiological structure of the upper limbs of the human body,the range of freedom of the joints of the upper limbs of the human body under overhead operations,the law of motion,and the joint torque data.Guide the design of the upper limb power-assisted exoskeleton system,and provide a basis for the design of the power-assisted mechanism and the selection of related components.(2)Design of exoskeleton system with the laws of the top operation.External skeletal system design includes configuration design,institutional design and binding design.Starting from the upper limb mechanism,the configuration design proposes a redundant four-freedom scheme to match the shoulder joint movement.The design of the agency in order to design a structural design of the assistance agency,the degree of freedom,and the regulatory agency,and design a assistant institution that matches the rules of the shoulder joint operation.Do not hinder human movement.The binding design analyzes the design elements from three aspects: wearer itself,the actual scenario of the top operation,and the helping agency,and designs a binding system that satisfies functionality,comfort and convenience.(3)Simplication and optimization of motor construction and structural strength of exoskeleton mechanisms.Establish an exoskeleton structure mobility model,use the boundary search method to obtain sports space,and place the exoskeleton mechanism with the shoulder joints in the same coordinate system according to the actual wearable position relationship.Compared with analysis of the motion space,the exoskeleton system meets the human and machine collaboration.Then use Workbench to simulate key components and optimize structural and topology based on the results to improve the overall structural strength of the exoskeleton and reduce the overall quality.(4)The upper limbs help the exoskeleton system platform to build and performance evaluation.Build an exoskeleton system in accordance with the design,and use the objective experimental method and subjective experimental method to evaluate the performance of the exoskeleton system.The objective experimental method has simulated the expiration of the top operation,and compared the degree of freedom range of wearable and the degree of non-wearing exoskeleton systems and the degree of activation of muscle electrical signals.The subjective experimental method analyzes the subjective assistance evaluation of the exoskeleton system through the results of the fatigue test table and subjective question and answer.