Particle Swarm Optimization Based Design for Knee Joint of Wearable Exoskeleton Robot

摘要

With firstly analyzing the working principle of wearable exoskeleton robot, and building a mathematical model ,this paper applies the method of Particle Swarm Optimization with MATLAB software to develop a set of optimization design system for three-hinge mechanism of knee, which substitutes artificial design system. Furthermore, this paper puts forward the optimization design method based on Particle Swarm Optimization for the three-hinge mechanism design of multi-objective and multi-constraint conditions, which can be effectively solved through simulation practice. Finally use Adams to check out the results.