Modular Design of Full Body Exoskeleton suit for Industry, Construction and Military Purpose
Lalchand Kumawat1, Abdul Salam. M2, Ponnapalli Naga Sai Vivek3, Sajja Sri Bharath4, Mustafa Ali Mustafa Emam5
1Kumawat Lalchand*, Student, B.Tech, Mechatronics Engineering, Lovely Professional University, Phagwara (Punjab), India.
2M Abdul Salam, Final year B.Tech,Mechatronics Engineering, Lovely Professional University, Jalandhar (Punjab), India
3Ponnapalli Naga Sai Vivek, B.Tech, MechanicalEngineering (Honors), Lovely Professional University, Phagwara (Punjab), India.
4Sajja Sri Bharath, Student, B.Tech Mechatronics Engineering, Lovely Professional University, Phagwara (Punjab), India.
5Mustafa Ali Mustafa Emam, Student, B.Tech Mechatronics Engineering , Lovely Professional University, Phagwara (Punjab), India.
Manuscript received on April 21, 2021. | Revised Manuscript received on April 30, 2021. | Manuscript published on June 30, 2021.. | PP: 1-16 | Volume-10 Issue-5, June 2021. | Retrieval Number: 100.1/ijeat.D25210410421 | DOI: 10.35940/ijeat.D2521.0610521
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Abstract: Exoskeleton suits can be considered as a wearable robotic item ,where the main inution is to increase,improve& boost the physical performance of operator/user by a desired margin , it has a great practicality in the present time as it can be implemented in a variety of filed extending from Health sector to industries .The scope of this is to design a full-body,rigid,Active,performance type mobile-exoskeleton prototype, by targeting it as mainly applicable for the Industry sector , Defence sector& Civil-(construction,fire & safety department, etc) Sectors , which has seen to be taking a leap in to this genre .This paper explicates the methodology for the design which was modeled in “Solidworks” and analysys of mechanical strucuture– performed by “Ansys Workbench”& selection of actuation mechanism with a coustomised design which was validated by a series of analysis in “Altiar Flux Motor” , this paper also scrutinize very succinctly the “gait” cycle & its phases ,itsummarise the necessity of the “gait” analysis- which was performed by “Opensim”from which data was acquired for the analysis of designed prototype& for the guidance inactuation of the prototype by prediction & restriction of drive controller valueto the normal gait values during locomotion by “gait assist function”,where the actuator control is primarly by the sensing of a series of “Strain guage” belts attached to the users muscles , 4 different control drivers used for actuation out of which for thigh joint the control drive was coustamised , the battery houses 728 high-performance Lithium-ion cells 0f “Panasonic-NCR18650B 3400MAh”,for cooling system a common aluminium heat sink was used.the other critical factors which was considered during the designing was cost-effectiveness, minimal maintenance, ergonomic , efficiency and safety of the designed prototype is also pithily considered . the total weight of the designed prototype model was 79Kg & was able to lift & locomote at 1.36m/s with apayload of 258kg.
Keywords: Exo-Skeleton Suit, Human-Gait Cycle, Human-Machine Interface, Robotics,Exosuit, Robotic actuator, Powered suit, Hardsuit, Exoframe.
Scope of the Article: Robotics