 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 12854 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8044
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| In English (Mech. Solids): | | 4810 |
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| A.O. Blinov, A.V. Borisov, R.G. Mukharlyamov, and M.A. Novikova, "Exoskeleton Dynamics Simulation with the System of Three Variable-Length Links of Adjustable Stiffness," Mech. Solids. 59 (1), 156-166 (2024) |
| Year |
2024 |
Volume |
59 |
Number |
1 |
Pages |
156-166 |
| DOI |
10.1134/S0025654423600770 |
| Title |
Exoskeleton Dynamics Simulation with the System of Three Variable-Length Links of Adjustable Stiffness |
| Author(s) |
A.O. Blinov (Smolensk Branch, Moscow Power Engineering Institute, Smolensk, 214013 Russia, alex-blinov67@yandex.ru)
A.V. Borisov (Smolensk Branch, Moscow Power Engineering Institute, Smolensk, 214013 Russia, borisowandrej@yandex.ru)
R.G. Mukharlyamov (People’s Friendship University of Russia (RUDN), Moscow, 117198 Russia, robgar@mail.ru)
M.A. Novikova (Smolensk Branch, Moscow Power Engineering Institute, Smolensk, 214013 Russia, mar.novikova@ro.ru) |
| Abstract |
The article proposes a spatial model of an exoskeleton for the human musculoskeletal system, represented by three movable links of variable length and two-point masses. The stiffness of the
links is controlled by changing the voltage supplied to the magnetic rheological fluid, which fills sections of variable length. The model can be used to develop comfortable exoskeletons, the kinematic
characteristics of which are close to the kinematic characteristics of the human musculoskeletal system. The model dynamics equations are constructed using local coordinate systems.
The required laws of change of generalized coordinates are specified by the equations of program constraints that determine the dependence of differentiable periodic functions on time. Control moments
and longitudinal forces are determined by methods of solving inverse dynamics problems and are realized by changing the magnetic field strengths, which affect the change in the stiffness of the magneticrheological fluid. The magnetic field strengths that control the stiffness of the link are implemented by step functions. An animation of the movement of the mechanism has been synthesized, showing the
adequacy of the proposed modeling procedure. The constraints of the links are modeled by joints and
motors that implement the necessary rotational motion. The dynamics of the model is controlled by
changing the lengths of the links and the angles between the links. |
| Keywords |
exoskeleton, variable-length link, stiffness, magnetic-rheological fluid, system, differential equations, joint, control, dynamics, numerical solution, animation |
| Received |
21 February 2023 | Revised |
04 May 2023 | Accepted |
06 May 2023 |
| Link to Fulltext |
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