Dynamic Modeling and Simulation of Man-machine Carrying Exoskeleton up Stairs
To study the change law of the driving torque of each joint when the exoskeleton goes up stairs under different load-bearing conditions.Based on the third-generation human-machine portability power-assisted exoskeleton robot of Southwest Jiaotong University,the kinematic model of the exoskeleton was firstly derived with the D-H method,and the relative motion and pose relationship between the links of the exoskeleton was studied.The Lagrange method constructed the exoskeleton dynamics model and carried out the dynamic simulation analysis;Finally,the fitted human gait cycle data was used as the driving force in the dynamic simulation of the exoskeleton under different load-bearing conditions based on Adams environment.function to obtain the driving torque data of each joint.The obtained results verify the effectiveness of using the anthropomorphic modeling method to identify the dynamic model of the exoskeleton robot,provide a theoretical basis for the system drive and control of the exoskeleton in the environment of loading stairs,and increased the man-machine portability.
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