Finite element analysis and optimized design of exoskeleton for lower extremity rehabilitation training

摘要

The paper carries out finite element analysis and lightweight design of the lower extremity exoskeleton of a gait rehabilitation training robot. PRO/E is used to model and assemble the whole machine of the lower extremity exoskeleton. ANSYS Workbench is used to build the finite element model of the lower extremity exoskeleton. The intensity and rigidity of critical components of the lower extremity exoskeleton are checked. The rigidity of bulk structure of the lower extremity exoskeleton is analyzed, and the integral rigidity characteristic is obtained. At the same time, the first ten natural frequencies and the mode shapes of the lower extremity exoskeleton are obtained by modal analysis, which provides the important modal parameter and avoids resonance. From the above analytic results, the lower extremity exoskeleton has plenty of space to optimize and improve its structure. The structure of the drive connection block is improved when the physical model appears the looseness. The incompact physical model structure causes laterality of the lower extremity exoskeleton, so the paper puts forward the optimization scheme of the lower extremity exoskeleton which has the compact structure of joints. In order to make it reach the lightweight design of the lower extremity exoskeleton under the condition of meeting the request for the intensity, rigidity, vibration characteristics and rehabilitation training.