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Mechanical design of the Hanyang Exoskeleton Assistive Robot(HEXAR)

机译:汉阳外科辅助机器人(河内)机械设计

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This study developed a lower extremity exoskeleton system to enhance lower body strength. In this paper, selected the degrees of freedom (DOF) which actuated based on analyzed human motion, and analyzed the human joint function to design the joint modules of the exoskeletal robot. To improve the efficiency of the exoskeleton robot, a mechanical structure was designed on the basis of a semi-anthropomorphic architecture. The Hanyang EXskeleton Assistive Robot (HEXAR) has seven degrees of freedom per leg, two of which are powered by an electrical motor. Appropriately sized motors and gearing are selected, and put through a thorough power analysis. quasi-passive mechanisms were designed with compliance material for supporting the weight of external loads in the stance phase and absorbing/releasing the energy. This paper discusses design criteria considered in mechanical design for HEXAR.
机译:该研究开发出一个下肢外骨骼系统,以提高较低的体积强度。在本文中,选择基于分析的人动运动致动的自由度(DOF),并分析了人的关节功能设计外骨骼机器人的联合模块。为了提高外骨骼机器人的效率,基于半拟人的架构设计了机械结构。 Hanyang exskeleton辅助机器人(六角形)每条腿具有七个自由度,其中两个由电动机供电。选择适当大小的电动机和传动装置,并通过彻底的功率分析。准无源机构设计具有合规材料,用于支撑姿势相中的外部负载的重量并吸收/释放能量。本文讨论了在河内机械设计中考虑的设计标准。

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