Investigation of the Kinetostatics and Stress-Strain State of the Links of the im Exoskeleton of the Lower Limb

In this work, we studied the kinetostatics and stress-strain state of the links of the actuator mechanism of the exoskeleton of the lower limb. The main results of the work include obtaining reaction values in the kinematic pairs of the mechanism, analysis of the stress-strain state of the links in various positions of the mechanism in the support phase. In the load transfer phase, only the gravity forces of the links and the human foot are applied to the mechanism. Key parameters describing the stress-strain state of the links in this phase were obtained. Particular attention is paid to determining the position at which maximum stresses arise in the sections of the links. A comparative analysis of existing exoskeleton designs and new functional capabilities was carried out: a closed kinematic chain, rational structural synthesis, a combined-type actuator mechanism with decomposition of motion by degrees of mobility and with a gravitationally independent topology, which will minimize the number of active power drives. The results of the study can be used to optimize the design of the exoskeleton, as well as to develop recommendations for the use and adjustment of the mechanism in order to reduce stress in the links and increase the efficiency of the device.