DYNAMIC ANALYSIS OF AN EXOSKELETON ROBOT CONSIDERING FRICTION IN JOINTS

Ionut Daniel GEONEA, Alexandru MARGINE, Adrian Sorin ROȘCA, Alin ONCESCU

Abstract


In this paper, we analyze the dynamics of a multibody mechanism in the structure of an exoskeleton robot intended to assist the motion of people with locomotor disabilities. The mechanism implemented as a leg of an exoskeleton has in its structure 9 kinematic elements and 14 rotational kinematic torques. We will analyze the dynamic behavior of the exoskeleton in two situations, namely: without friction consideration and with friction consideration. Also, in the last part of the paper we will present aspects of manufacturing by 3D printing technology. We will detail aspects on the use of the CURA Ultimaker software to obtain the G-code for the 3D printer.


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References


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