Kinematic Analysis and Dynamic Optimization Simulation of a Novel Unpowered Exoskeleton with Parallel Topology

被引：3

作者：

Yan, Qiang ^{[1
]}

Zhang, Jianjun ^{[1
]}

Li, Bin ^{[2
]}

Zhou, Liang ^{[1
]}

机构：

[1] Hebei Univ Technol, Hebei Key Lab Parallel Equipment, Tianjin 300132, Peoples R China

[2] Tianjin Univ Technol, Tianjin Key Lab Adv Machatron Syst Design & Intel, Tianjin 300384, Peoples R China

来源：

JOURNAL OF ROBOTICS | 2019年 / 2019卷

基金：

中国国家自然科学基金;

关键词：

FAMILY;

D O I：

10.1155/2019/2953830

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper studies the kinematic and dynamic analysis of a novel unpowered exoskeleton with topology. Firstly, the kinematics of the unpowered exoskeleton is analyzed by the derivation of the closed-loop position equation, and the forward position problems of the exoskeleton are obtained. Secondly, with the aim of doing some research in the dynamics, two of links for the exoskeleton are changed into flexible links. Some shapes concerning some parameters are acquired by simulation with fitting curve method. Thirdly, meanwhile, the dynamic model is built by using Lagrange method. Fourthly, the gait experiment is acquired with the aim of obtaining the law of the human joints. Fifthly, the dynamic model is verified by Adams software and the theoretical calculation. Meanwhile, an optimization is completed in the Adams software. The most reasonable spring stiffness is acquired. Finally, some conclusions are enumerated to show the properties of the mechanisms.

引用

页数：12

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