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ÖÐͼ·ÖÀàºÅ£ºTH112 ÎÄÏ×±êÖ¾Â룺A doi£º10.3969/j.issn.1006-0316.2023.03.011

ÎÄÕ±àºÅ£º1006-0316 (2023) 03-0072-09

Kinematic Analysis of 3-UCU Parallel Driven Lower Limb Exoskeleton Mechanism

CHEN Zhu£¬LI Heng

( School of Mechanical Engineering, Sichuan University, Chengdu 610065, China )

Abstract£ºA parallel driven lower limb exoskeleton mechanism is designed by using 3-UCU parallel mechanism for the hip joint, UCU-R parallel mechanism for the knee joint , and underactuated spherical joint mechanism for the ankle joint. The degree of freedom of the mechanism is calculated and the singularity is analyzed. There is no forward and inverse singularity in the workspace. The multi-body system theory is used to analyze the motion of exoskeleton mechanism, and the relative position calculation method is adopted to derive any reference point on each component in the same coordinate system. The forward and inverse mathematical model of the mechanism is established. The mathematical programming simulation analysis of the workspace and the drive shaft stroke of exoskeleton parallel mechanism is carried out by using MATLAB software. The results show that the shape of the workspace of the mechanism is compact and continuous without obvious cavity, so the mechanism has good working ability. PSO algorithm is applied to the position forward solution, and the consistency of the results of the forward and inverse solution algorithm is verified.

Key words£º3-UCU£»parallel driven£»lower limb exoskeleton£»kinematic£»singularity£»workspace£»PSO algorithm

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