Dynamic modeling and simulation on the power assisted suit robot

WANG Lan, LU Lu
(College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China)

Abstract: Aiming at the difficulty of the elderly and the infirm walking independently, a kind of power assisted suit robot was researched to help people walking independently. The robot is worn on the lowerlimb of human body, and it follows the movement of the lower limbs to provide some supports in the process of human walking. The robots left side and right side were designed symmetrically. Each side of robot contains pelvis and knee joint, and they were driven by the DC motordriven screwnut body. Based on Matlab/Simulink and SimMechanics, the robots dynamics model and control model were constructed. The PD controller was adopted. The robot single joint step respond, trajectory control without load and with load were simulated. The simulation results indicate that the robot can achieve the gait law and has strong load capacity.
Key words: power assisted suit robot; dynamics; control model; simulation