Study on Dynamic Solution of Upper Body Gravity Center of Exoskeleton Based on Maplesim

摘要

The acquisition of the center of gravity of the upper body of the exoskeleton robot is critical in the balance control. In order to solve the problems of poor portability, low efficiency and precision of gravity center solution for exoskeleton, the multi- domain system-level modeling and simulation software Maplesim was used for parametric modeling of exoskeleton upper body and a real-time gravity center solution method with strong portability was proposed. The method can directly transplant to the exoskeleton with similar configuration, and the center of gravity can be calculated in real time by assigning the parameters, which is efficient and accurate.