3D MODELS OF CONTROLLABLE HINGED MECHANISMS WITH LINKS OF VARIABLE LENGTH FOR HUMAN EXOSKELETONS

Abstract

A spatial (3D) model of an exoskeleton with links of variable length is considered. The construction of a multi-link model is based on the analysis of a one-link model of with one fixed point in space and a two-link model of variable length. In connection with the difficulties arising in the construction of systems of differential equations of motion with a relatively large number of links that are associated with a long compilation time even when using modern computational systems and algorithms, a generalization for the mechanism for the case of an arbitrary finite number of links is considered and a high-speed method for constructing systems of differential equations of motion for the considered models of mechanisms is given. A five-link 3D model of an exoskeleton with of variable length that can be used to create a working exoskeleton or an anthropomorphic robot is presented. We propose a model with two solid weighty sections located at both ends of the link and a weightless section between them in the center of the link. Analytically synthesized trajectories of movement are obtained and the results of numerical simulation of the movement of a man-machine system in the form of a man in an exoskeleton are presented. Application of the proposed model allows one to reduce the load on the joints, increase strength, comfort and time of continuous use of the exoskeleton.