Abstract
The article discusses a spatial model of two links of variable length of an active exoskeleton that simulate a supporting leg. The variable length link has the following construction. Two sections of constant length are located at the ends of the link. They are assumed to have mass. Between them, in the vicinity of the center of the link, there is a section of variable length. It is assumed to be weightless. On a weightless section, there is a drive that provides a controlled change in the length of the link when a person moves in an exoskeleton. Drives are installed in each hinge, providing the necessary turns with the relative rotational movement of the links. The difference between the proposed model and the previously studied ones lies in the use of the angles between the links, which corresponds to the real operation of electric drives. The paths of the links are set kinematically. The control forces are determined in the model from the compiled system of differential equations of motion. The calculation of energy consumption during the single-support phase of movement for one step is carried out. The application of the proposed model in the form of two links of variable length of the active exoskeleton can be found when selecting a battery for the autonomous operation of the exoskeleton.
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