Design and Optimization of a Wearable upper Limb Exoskeleton based on Adams

Abstract

A wearable upper limb exoskeleton for factory assembly positions was designed. The trajectory and dynamics of the worker's arm during assembly was analysed. According to the power demand, the corresponding torque drive was designed at the shoulder joint. Then the corresponding scheme was designed. The effect on joint drive force was simulated on Adams. As shown by the result, pre-compression force and spring stiffness have a great influence on the driving effect. Finally, with the work of additional required force moment for the shoulder joint as the objective function, the two parameters of spring stiffness and pre-compression force were optimized. Compared to not wearing the exoskeleton, the energy consumption of the exoskeleton was reduced by 90%.