New design and motion analysis of an exoskeleton robot for assisting human locomotion

摘要

In this paper, we present a new robot model designed to assist human locomotion. The kinematic structure of the robot is presented, and the equations that characterize the movement of the robot are written. Based on this kinematic structure, the robot is modeled in the CAD design environment, SolidWorks, and the motion simulation is performed in the MSC.ADAMS simulation environment. The graphs of variation of the kinematic and dynamic parameters of the robot are analyzed. Based on the analysis of the designed robot's motion, conclusions are drawn regarding the usefulness of the modeled robot.