Abstract
A person has more than 300 degrees of mobility, but it is practically impossible to recreate such a kinematic scheme. In this article, a kinematic scheme of the exoskeleton is proposed that is most necessary for human movement. A 3D model of the exoskeleton actuating unit with an electrohydraulic drive has been developed in the CAD system and the values of masses, coordinates of mass centers, inertia tensors of the links of the exoskeleton actuating unit have been calculated. A launch file has been developed in the MATLAB environment for modeling the dynamics of the exoskeleton actuating unit. The control laws in the degrees of mobility of the actuating unit of the exoskeleton are selected. As a result of the theoretical study, the ranges of changes in the generalized coordinates for the joints under study are determined. The dependences of the power and the moment in the joints 9, 10 on time are obtained. The conducted studies have shown that lifting the leg will require more energy and this makes it necessary to develop power plants, explore various types of drives and ways to control them energy-efficiently. The obtained data can serve in the development of a medical exoskeleton.
Highlights
An important stage in the creation of robotic systems is the description of the mathematical modeling of their dynamics
The proposed kinematic scheme can be represented by a directed reachability graph, where the vertices of the graph denote the links of the actuator, and the arcs– the joints connecting them [7]
The author of ematic scheme of the exoskeleton and its 3D model the work [7] noted that there is a significant lag in the are shown in Fig. 1 and 2 respectively
Summary
An important stage in the creation of robotic systems is the description of the mathematical modeling of their dynamics. In [1,2,3,4,5,6], many methods are given for describing the mathematical. The proposed kinematic scheme can be represented by a directed reachability graph, where the vertices of the graph denote the links of the actuator, and the arcs– the joints connecting them [7]. The kinmodel, the dynamics of various robots. The author of ematic scheme of the exoskeleton and its 3D model the work [7] noted that there is a significant lag in the are shown in Fig. 1 and 2 respectively. Development of medical exoskeletons in the CIS
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