Finite Element Model Analysis of Key Component of Exoskeleton Ankle Joint Mechanism Based on ANSYS

• Published in: 2020 7th International Forum on Electrical Engineering and Automation (IFEEA) pp. 981 - 986
• Main Authors: Wang, Sheng, Feng, Zhengkai, Wang, Chuanjiang, Zhou, Jianbo
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.09.2020
• Subjects: Analytical models; ankle joint mechanism; ANSYS; Finite element analysis; Force; Legged locomotion; security design; Solid modeling; SolidWorks; Strain; Stress
• DOI: 10.1109/IFEEA51475.2020.00206

On the basis of overall mechanical structure of existing lower limb exoskeleton robot, a key ankle joint protecting component of ankle joint mechanism is improved and designed. According to person's steps, the dimension and the model of the protecting component are specified by using SolidWorks, and the person's two kinds of gestures are determined. The concept of forces' balance in the plane is derived from a principle of zero moment point balance. The correctness of forces' balance in the plane is verified in the force analysis of an ankle joint. It puts forward the necessity of security design after wearing the component. The finite element analysis and mesh refinement of the component is finished by using ANSYS. Calculating and contrasting through the simulation analysis and check-theories, the test data were obtained by using static analysis method with a constant force, and adopting the transient analysis method with an instantaneous moment. The design and material of the component are demonstrated safety, which provided a mechanics research reference for other joints' key components.