The exoskeleton CAD designed in Autodesk Inventor has been displayed similarly in Matlab SimMechanics. While detailed design can be created in CAD ...
Theme 2: Science, Technology and Engineering
Control Simulation of Lower Limb Exoskeleton Robot CAD Design ABSTRACT
RESULTS
To perform dynamics and control analysis of a lower limb exoskeleton CAD design, the Exoskeleton designed in CAD software is imported into Matlab. Performing some instructions cause a block diagram to appear. Modifying the block diagram and adding PID controller and running the simulation displays the exoskeleton animation and joint response graphs. A good tracking response of the exoskeleton joints to the sinusoidal input. This means any exoskeleton design can be analysed for its dynamics response before the actual prototype is being built.
INTRODUCTION Nowadays it is normal for robot prototypes to be designed using CAD software. Some CAD softwares can perform stress analysis, frame analysis and also integrated with electrical and mechanical module for precise drawing and simulation of the electrical and mechanical systems like the simulation of robotic system. However, those CAD softwares cannot perform control system analysis analysis. This research aims to simulate the dynamic response of lower extremity exoskeleton robot using the CAD design so that a trajectory tracking of the joints can be established.
METHODS
Right Hip
Right Knee
Adding PID controller to each joint in the right leg while giving sinusoidal input results in each joint movement tracks the input while the animation of the CAD displays the movement of the right leg.
Right Ankle
DISCUSSION The results shows the output tracks the input with some errors especially at the positive peak while good tracking performance between the peaks. The output further improvement includes introducing controller which results in further reduction of error and good output tracking of the input.
CONCLUSION
Design CAD
The exoskeleton CAD designed in Autodesk Inventor has been displayed similarly in Matlab SimMechanics. While detailed design can be created in CAD software, the dynamics response of the design can be simulated using Matlab. Analysis of the dynamics of the design can be done before the actual design is being fabricated.
Import CAD into Matlab Call file from Matlab function Simulink viewer opened
REFERENCES N. A. Shaari, I. S. Isa, and T. C. Jun, “Torque Analysis of The Lower Limb Exoskeleton Robot Design By Using Solidwork Software,” ARPN J. Eng. Appl. Sci., vol. 10, no. 19, pp. 1–10, 2015.
Save model as slx file
M. Olinski, B. Lewandowski, and A. Gronowicz, “Type Synthesis And Preliminary Design of Devices Supporting Lower Limb’s Rehabilitation,” Acta Bioeng. Biomech., vol. 17, no. 1, pp. 117–127, 2015.
Modify block diagram
D. Cekus, “Integration of Modeling In Solidworks And Matlab/Simulink Environments,” Arch. Mech. Eng., vol. XI, pp. 57–74, 2014.
Run simulation CAD simulation process methodology
CAD block diagram in Matlab
V. Fedák, F. Ďurovský, and R. Üveges, “Analysis Of Robotic System Motion In SimMechanics And Matlab GUI Environment,” in Matlab Applications For The Practical Engineer, Intech, 2014.
