Topology Optimization Design of 6-DOF Lower Extremity Exoskeleton Leg for Load Carrying

被引：0
|
作者：
Ma, Shun [1 ]
Yao, Jinhui [2 ]
Wei, Xiaolong [2 ]
Zhu, Yanhe [1 ]
机构：
[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin, Heilongjiang, Peoples R China
[2] Fire Brigade Haidian Dist, Beijing, Peoples R China
来源：
PROCEEDINGS OF 2016 IEEE ADVANCED INFORMATION MANAGEMENT, COMMUNICATES, ELECTRONIC AND AUTOMATION CONTROL CONFERENCE (IMCEC 2016) | 2016年
基金：
中国国家自然科学基金;
关键词：
Lower extremity exoskeleton; Mechanism topology; Simulation Optimization; Gravity balanced system;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper introduces a novel and light weight lower extremity exoskeleton, used for carrying heavy load in the individual soldier combat system. This exoskeleton has six degree of freedom per leg, only one of which is powered by the motor. In order to provide a reference for the exoskeleton mechanical structure and drive unit, the mechanical topology is designed and analyzed by Adams software to make a optimization and derive the drive joint kinematic parameters. Considering the safety and comfort for the wearers, a gravity balanced system has been designed in the hip joint to supply power for movement. The critical hardware arrangement aspects and control system are summarized.
引用
收藏
页码：1705 / 1710
页数：6
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