Design and Fabrication of Exoskeleton
Design and Fabrication of Exoskeleton
ABSTRACT:
Exoskeleton is an electromechanical device that assist in lifting loads in military as well as other
industries. It comprises of both mechanical and electrical components. The CAD design of
Exoskeleton was made by using SOLIDWORKS. It is designed to provide 3 degree of freedom
(3 DoF) to the user. The mechanism of Exoskeleton is based on pulley (double groove) driven
system. The pulley system is actuated by a 4-axis joystick accompanied with Arduino UNO, L
298N motor driver and 5200 mAh portable LI-PO battery. The CAD design was simulated on
Ansys workbench by using Static structural Analysis and through that values of total
deformation and equivalent stress were acquired. For fabrication, Aluminum of grade 7075 was
selected because of its high strength and low density. The stainless-steel wire used in
exoskeleton was tested on Material testing system (MTS) using tensile testing technique. The
total weight of Exoskeleton is 6.7 kgs. It is capable of lifting 15 kgs. Exoskeleton is a portable,
light weight and economic device designed for load lifting.
Final Project
Analysis and testing:
The virtual prototype of exoskeleton was constructed in order to validate the rationality of thedesign, its kinematics and dynamics simulation. In order to authenticate the rationality of the size
of the exoskeleton, finite element analysis was carried out to optimize the structure of
exoskeleton.
Improvement of Weight capacity and weight-bearing exercise endurance in human are the main
purpose of Portable Exoskeleton. The object of study is the Exoskeletons mechanical structure
and through it to improve the structure load carrying capacity.
Ansys Workbench 15.0 is used to perform the static structure analysis of different components of
exoskeleton. Different results like deformation, equivalent stress and strain were obtained after
defining the boundary conditions of the structure.
First the static structure analysis of the shoulder component was done. This component plays a
vital role in 3 DOF of the structure. One end contains bearing and can rotate while the other end
contains a hole for a pin. Load of 150N is applied at the end. The equivalent stress results are
shown in figure. The maximum stress developing is 1.1462E7 Pa. The region in red shows the
area where maximum stress is generated while the blue area shows areas where stress is
minimum.
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