Structural design and verification of exoskeleton assisted handling robot based on virtual prototyping technology
                                                          GAO Kun, LIU Hui xia, CHEN Shu yang, WANG Xiao
                                  (School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China)

Abstract: Aiming at the problem of existing exoskeleton assisted handling robot structure complex, expensive the exoskeleton robot was studied for the structural design, kinematics and control simulation of the robot's virtual prototype technology. A relatively simple structure was designed to help the human body by bending over and carrying heavy objects, and the elbow joint was designed for self locking mechanism. The D H coordinates were established through kinematics model of the exoskeleton. The direct and inverse kinematics analysis was carried out. Based on the virtual prototype technology, the experimental data collected during the human gait walk, the simulation analysis and co simulate of the gait movement were carried out. The results indicate that the designing of the robot's gait simulation is consistent with the actual data of the human body, and proves the stability and reliability of the designed structure.

Key words: exoskeleton; handling robot; structural design; kinematics; gait simulation