MODELING OF LOADING BY INDUSTRIAL EXOSKELET
https://doi.org/10.21869/2223-1560-2018-22-6-14-20
Abstract
The article deals with the task of lifting a weight by a person using an exoskeleton. It is proposed to consider lifting in the form of three successive stages. A mathematical model of the exoskeleton, describing movement in various modes of movement, has been developed. The inverse task of kinematics was solved, which allows finding the rotation angles of the exoskeleton links at the preparatory stage. The method for determining the driving moments at the stages of lifting the load is proposed.
About the Authors
S. F. Yatsun
Southwest State University
Russian Federation
Russian Federation
Doctor of Engineering Sciences, Professor,
305040, Kursk, 50 Let Oktyabrya str., 94
V. M. Antipov
Southwest State University
Russian Federation
305040, Kursk, 50 Let Oktyabrya str., 94, tel. 7 (4712) 22-26-26
Russian Federation
305040, Kursk, 50 Let Oktyabrya str., 94, tel. 7 (4712) 22-26-26
A. E. Karlov
Southwest State University
Russian Federation
Russian Federation
Post-Graduate Student,
305040, Kursk, 50 Let Oktyabrya str., 94
References
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2. Jatsun S., Savin S., Yatsun A., 2016, June. Improvement of energy con-sumption for a lower limb exoskeleton through verticalization time optimization. In Control and Automation (MED), 2016 24th Mediterranean Conference on (pp. 322-326). IEEE.
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Review
For citations:
Yatsun S.F., Antipov V.M., Karlov A.E. MODELING OF LOADING BY INDUSTRIAL EXOSKELET. Proceedings of the Southwest State University. 2018;22(6):14-20. (In Russ.) https://doi.org/10.21869/2223-1560-2018-22-6-14-20
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