||The purpose of the research is to complete a set of wearable exoskeleton device setup. This device is mainly divided into two part, including mechanism and driving system. The part of mechanism design focuses on the design of the wearable exoskeleton device. And the part of driving system is integrated by controller, servo controller, and self-made peripheral circuit board. The driving system will achieve the speed control of the motor and establish a safety mechanism design with motor speed control loop.|
In the research, the concept of quick disassembly and flexible adjustment is added to the mechanism design. The upper body bracket and lower body bracket are assembled by aluminum extrusion to reduce the expected machining time and difficulty. At the same time, the mechanism design will achieve a considerable force. The shoulder joint motor seat and the hip joint motor seat of the design use the same concept, so they can be assembled alternately. And demonstrate fully the characteristics of this quick disassembly and assembly. The elbow joint motor seat and the knee joint motor seat are intended to have the same characteristics as the former. In addition, the combination of the motor and the component is different from the assembly of the traditional coupling. The TUBBAKI KE series of keyless sleeves are used in this project to greatly increase the lifespan of the motor′s rotating shaft. It is also relatively fast and safe to assemble. Through the simulation results of ANSYS, it can be known that the force of each component has higher load capacity, and the machining is successfully completed.
In terms of driving system, the speed control is realized through the combination of TMS320F28335 digital signal controller, self-made peripheral circuit board, and Maxon ESCON servo controller. And choose the MC3486N IC that produced by TI to complete the encoder decoding. In the future, the rotor position can be calculated by inputting the decoded signal into the quadrature encoder pulse (QEP) module of the TMS320F28335 digital signal processor.
﹝2﹞ Y. Matsumototi, T. Inot, and T. Ogasawarat, “Development of Intelligent Wheelchair System with Face and Gaze Based Interface”, IEEE International Worksop on Robot and Human Interactive Communication, pp262-267, 2001
﹝3﹞ S. H. KIM, H. IMAI, Y. SANKAI, “Interactive task generation for humanoid based on human motion strategy”, IEEE International Workshop on Robot and Human Interactive Communication, pp485-490, 2004
﹝4﹞ JF. Veneman, R. Kruidhof, E. Hekman, R. Ekkelenkamp, E. Van Asseldonk, and H. van der Kooij, “Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation”, IEEE Transaction on Neural Ststems and Rehabilitation Engineering, vol. 15, No. 3, pp379-386, 2007
﹝6﹞ Maxon Motor, maxon Program, Maxon Motor, Switzerland, 2015
﹝7﹞ Renesas Electronics：BLDC直流無刷馬達的控制。2020年，取自https://reurl.cc/qd7GO0
﹝8﹞ 劉陵順，TMS320F28335 DSP 原理及開發編程，北京航空航天大學出版社，北京，民國100年。
﹝9﹞ 符曉，TMS320D2833x DSP 應用開發與實踐，北京航空航天大學出版社，北京，民國102年。
﹝12﹞ Texas Instruments, “TMS320F28335 Digital Signal Controllers (DSCs) Data Manual”, Texas Instruments, 2007.
﹝13﹞ Texas Instruments, “SN74LVC2G17 Datasheet”, Texas Instruments, 2002
﹝14﹞ Texas Instruments, “MC3486 Datasheet”, Texas Instruments, 2002
﹝15﹞ Texas Instruments, “TXB0106 Datasheet”, Texas Instruments, 2015
﹝16﹞ 謝忠祐等編著，ANSYS V12影音教學範例，全華圖書股份有限公司，台北，民國101年
﹝17﹞ 張義和、程兆龍編著，Altium Designer極致電路設計，全華圖書股份有限公司，台北，民國108年