Optimal Design of Extremity Exoskeleton Elbow Joint Based on Rocker Slider Mechanism

被引：0
|
作者：
Ma X. [1 ]
Huang J. [1 ]
Mao K. [1 ]
Li Y. [1 ]
Wu H. [2 ]
机构：
[1] Industrial Center, College of Innovation and Entrepreneurship, Nanjing Institute of Technology, Nanjing
[2] College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing
来源：
Zhendong Ceshi Yu Zhenduan/Journal of Vibration, Measurement and Diagnosis | 2023年 / 43卷 / 06期
关键词：
elbow flexion test; rocker slider mechanism; scale optimization design; transient structure analysis; upper limb exoskeleton;
D O I：
10.16450/j.cnki.issn.1004-6801.2023.06.025
中图分类号：
学科分类号：
摘要：
Aiming at the limitation of elbow joint movement and poor power assist effect，an upper limb exo⁃ skeleton based on rocker slider mechanism is designed. The kinematics model of the upper limb exoskeleton mechanism is established by D-H parameters，and its working space is analyzed. Based on the rocker slider mechanism，the structure of the upper limb exoskeleton is designed，and the mechanical analysis is carried out to provide the basis for cylinder selection. Based on the parametric model established by ADAMS，the elbow joint size of the upper limb exoskeleton is optimized，and the range of motion of the elbow joint is significantly improved after optimization. The strength of key components is checked by ANSYS，and a physical prototype to collect upper limb electromyography signals for assistance performance evaluation is built，which verified that the upper limb exoskeleton mechanism has a good power assist effect. © 2023 Nanjing University of Aeronautics an Astronautics. All rights reserved.
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页码：1217 / 1224and1250
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