Investigation of actuator dynamics for an exoskeleton, taking support contact forces into account

Authors: Isabekov Zh.N.
Published in issue: #9(14)/2017
DOI: 10.18698/2541-8009-2017-9-163
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: exoskeleton, synthesis of kinematic structures, equation of exoskeleton dynamics, mathematical modelling
Published: 14.09.2017

We consider a kinematic diagram of a tree-like actuator for an exoskeleton. We used the D’Alembert’s principle to derive the equations of dynamics. We present the results of investigating dynamics of an exoskeleton actuator. We developed a 3D model of the exoskeleton actuator using the SolidWorks software package. We used the MATLAB software package to plot torque and power inside the joints as functions of time.

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