A New Type of Knee Exoskeleton Bionic Metamorphic Robot and Its Optimal Dimensional Synthesis Based on Multi-body Kinematics

doi:10.3901/JME.2023.05.142

Abstract

Abstract: Aiming at the biomechanical characteristics of swing phase and weight-bearing phase of human gait cycle, a new prototype of human-machine parallel research is put forward, which integrates the metamorphic bionic knee exoskeleton robot and the equivalent lower limbs of the motion associate human body with "J" trajectory characteristics is innovatively proposed. On the basis of in-depth analysis of the working mechanism of metamorphic motion weight-bearing biomimetic, a method of dimensional synthesis based on multi-body kinematics is proposed systematically. Firstly, the method builds the human-machine parallel kinematics model based on multi-body kinematics systematically. Secondly, aiming at the effective geometric inclusion of the exoskeleton for the slip of its wearing position and the individual differences of lower limbs, a new kinematics comprehensive performance evaluation index, bionic dexterity and inclusiveness is proposed. Thirdly, the dimensional synthesis based on multi-body kinematics is reduced to a class of multi-objective optimization problems. Finally, considering the gait differences of different groups, the compressed particle swarm algorithm is used to carry out in-depth dimensional synthesis based on multi-body kinematics numerical simulation of the knee joint exoskeleton system. Through comparison of simulation data with the parameter sensitivity analysis, the comprehensive performance of metamorphic biomimetic kinematics of the exoskeleton robot and the rationality and effectiveness of the method are proved, and the theoretical basis for the subsequent research on the effectiveness of prototype weight-bearing is provided.

Key words: knee joint exoskeleton, human-machine parallel research prototype, biomimetic dexterity and inclusiveness, multi-body kinematics, dimensional synthesis

CLC Number:

TH122

LI Zhaotong, YANG Yuwei, LI Bin, ZHAO Lei, LIU Liang, MA Yue, LIU Qi. A New Type of Knee Exoskeleton Bionic Metamorphic Robot and Its Optimal Dimensional Synthesis Based on Multi-body Kinematics[J]. Journal of Mechanical Engineering, 2023, 59(5): 142-155.

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