Kinematic Analysis and Dynamic Optimization Simulation of a Novel Unpowered Exoskeleton with Parallel Topology
This paper studies the kinematic and dynamic analysis of a novel unpowered exoskeleton with topology. Firstly, the kinematics of the unpowered exoskeleton is analyzed by the derivation of the closed-loop position equation, and the forward position problems of the exoskeleton are obtained. Secondly,...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2019-01-01
|
| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2019/2953830 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832567074503786496 |
|---|---|
| author | Qiang Yan Jianjun Zhang Bin Li Liang Zhou |
| author_facet | Qiang Yan Jianjun Zhang Bin Li Liang Zhou |
| author_sort | Qiang Yan |
| collection | DOAJ |
| description | This paper studies the kinematic and dynamic analysis of a novel unpowered exoskeleton with topology. Firstly, the kinematics of the unpowered exoskeleton is analyzed by the derivation of the closed-loop position equation, and the forward position problems of the exoskeleton are obtained. Secondly, with the aim of doing some research in the dynamics, two of links for the exoskeleton are changed into flexible links. Some shapes concerning some parameters are acquired by simulation with fitting curve method. Thirdly, meanwhile, the dynamic model is built by using Lagrange method. Fourthly, the gait experiment is acquired with the aim of obtaining the law of the human joints. Fifthly, the dynamic model is verified by Adams software and the theoretical calculation. Meanwhile, an optimization is completed in the Adams software. The most reasonable spring stiffness is acquired. Finally, some conclusions are enumerated to show the properties of the mechanisms. |
| format | Article |
| id | doaj-art-060334ec1f7b4b21b99b2b64f908c60f |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-060334ec1f7b4b21b99b2b64f908c60f2025-02-03T01:02:23ZengWileyJournal of Robotics1687-96001687-96192019-01-01201910.1155/2019/29538302953830Kinematic Analysis and Dynamic Optimization Simulation of a Novel Unpowered Exoskeleton with Parallel TopologyQiang Yan0Jianjun Zhang1Bin Li2Liang Zhou3Hebei Key Laboratory for Parallel Equipment, Hebei University of Technology, Tianjin 300132, ChinaHebei Key Laboratory for Parallel Equipment, Hebei University of Technology, Tianjin 300132, ChinaTianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology, Tianjin 300384, ChinaHebei Key Laboratory for Parallel Equipment, Hebei University of Technology, Tianjin 300132, ChinaThis paper studies the kinematic and dynamic analysis of a novel unpowered exoskeleton with topology. Firstly, the kinematics of the unpowered exoskeleton is analyzed by the derivation of the closed-loop position equation, and the forward position problems of the exoskeleton are obtained. Secondly, with the aim of doing some research in the dynamics, two of links for the exoskeleton are changed into flexible links. Some shapes concerning some parameters are acquired by simulation with fitting curve method. Thirdly, meanwhile, the dynamic model is built by using Lagrange method. Fourthly, the gait experiment is acquired with the aim of obtaining the law of the human joints. Fifthly, the dynamic model is verified by Adams software and the theoretical calculation. Meanwhile, an optimization is completed in the Adams software. The most reasonable spring stiffness is acquired. Finally, some conclusions are enumerated to show the properties of the mechanisms.http://dx.doi.org/10.1155/2019/2953830 |
| spellingShingle | Qiang Yan Jianjun Zhang Bin Li Liang Zhou Kinematic Analysis and Dynamic Optimization Simulation of a Novel Unpowered Exoskeleton with Parallel Topology Journal of Robotics |
| title | Kinematic Analysis and Dynamic Optimization Simulation of a Novel Unpowered Exoskeleton with Parallel Topology |
| title_full | Kinematic Analysis and Dynamic Optimization Simulation of a Novel Unpowered Exoskeleton with Parallel Topology |
| title_fullStr | Kinematic Analysis and Dynamic Optimization Simulation of a Novel Unpowered Exoskeleton with Parallel Topology |
| title_full_unstemmed | Kinematic Analysis and Dynamic Optimization Simulation of a Novel Unpowered Exoskeleton with Parallel Topology |
| title_short | Kinematic Analysis and Dynamic Optimization Simulation of a Novel Unpowered Exoskeleton with Parallel Topology |
| title_sort | kinematic analysis and dynamic optimization simulation of a novel unpowered exoskeleton with parallel topology |
| url | http://dx.doi.org/10.1155/2019/2953830 |
| work_keys_str_mv | AT qiangyan kinematicanalysisanddynamicoptimizationsimulationofanovelunpoweredexoskeletonwithparalleltopology AT jianjunzhang kinematicanalysisanddynamicoptimizationsimulationofanovelunpoweredexoskeletonwithparalleltopology AT binli kinematicanalysisanddynamicoptimizationsimulationofanovelunpoweredexoskeletonwithparalleltopology AT liangzhou kinematicanalysisanddynamicoptimizationsimulationofanovelunpoweredexoskeletonwithparalleltopology |