Structural Design and Analysis of Lower Limb Exoskeleton Robotics

Abstract

With the acceleration of the global aging process and the increase of cardiovascular an cerebrovascular diseases, more and more patients are paralyzed due to accidents, so the exoskeleton robot began to appear in people's sight, and the lower limb exoskeleton robot withrehabilitation training is also favored by more and more people. In this paper, the structural designand analysis of the lower limb exoskeleton robot are carried out in view of the patients' expectation ofnormal walking. First, gait analysis and structural design of lower limb exoskeleton robot. Based onthe analysis of the walking gait of normal people, the freedom of the three key joints of the lower limbexoskeleton robot hip joint, knee joint and ankle joint is determined. at the same time, according tothe structural characteristics of each joint, the three key joints are modeled respectively, and theoverall model assembly of the lower limb exoskeleton robot is completed. Secondly, the kinematicsanalysis of the lower limb exoskeleton robot was carried out to obtain the relationship between thelinear displacement, linear speed and acceleration of each joint, so as to ensure the coordination ofthe model with the human lower limb movement. Thirdly, the static analysis of typical gait of hipjoint, knee joint and ankle joint is carried out to verify the safety of the design model under thepremise of ensuring the structural strength requirements. Finally, the parts of the model were 3Dprinted, and the rationality of the design was further verified in the process of assembling the model.