Kinematics Analysis and Simulation of a Robot with Lower Extremity Exoskeleton
The lower extremity exoskeleton is smart external power unit combined with the mechanical energy,which can enhance human body function.The progress,prospective and principle are introduced in brief.Based on the movement parameters of the several of joints of human extremity,the paper carried out the kinematics analysis and modeling the mechanical system of the lower extremity exoskeleton.Simulations of the mechanical system with MATLAB result in the motion trail in space structure.Comparing the motion with several points verifies the feasibility of the kinematical model established and the necessity of spatial motion analysis.Finally calculated the workspace and analyzed the influence of various parameters of the mechanism on the workspace.The study paves the way for the optimization design of the structure and the design and calculation of hydraulic drive system.
Lower extremity exoskeleton Assisted mechanism Spatial kinematical Workspace
Maoyu Zhang Yueri Cai Shusheng Bi
School of Mechanical Engineering and Automation,Beihang University, Beijing 100191, China
国际会议
广州
英文
195-207
2016-12-15（万方平台首次上网日期，不代表论文的发表时间）