International Journal of Engineering and Advanced Technology (IJEAT)
ISSN: 2249-8958 (Online),Volume-10 Issue-5, June 2021
1
Published By:
Blue Eyes Intelligence Engineering
and Sciences Publication
© Copyright: All rights reserved.
Retrieval Number: 100.1/ijeat.D25210410421
DOI:10.35940/ijeat.D2521.0610521
Journal Website: www.ijeat.org
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.
Manuscript received on April 21, 2021.
Revised Manuscript received on April 30, 2021.
Manuscript published on June 30, 2021.
* Correspondence Author
Kumawat Lalchand*, Student, B.Tech, Mechatronics Engineering,
Lovely Professional University, Phagwara (Punjab), India.
M Abdul Salam, Final year B.Tech,Mechatronics Engineering,
Lovely Professional University, Jalandhar (Punjab), India,
Ponnapalli Naga Sai Vivek, B.Tech, MechanicalEngineering
(Honors), Lovely Professional University, Phagwara (Punjab), India
Sajja Sri Bharath, Student, B.Tech Mechatronics Engineering, Lovely
Professional University, Phagwara (Punjab), India.
Mustafa Ali Mustafa Emam, Student, B.Tech Mechatronics
Engineering , Lovely Professional University, Phagwara (Punjab), India.
© The Authors. Published by Blue Eyes Intelligence Engineering and
Sciences Publication (BEIESP). This is an open access article under the CC
BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
I. INTRODUCTION
The exoskeleton is a suit that assists the wearer by boosting
their strength and endurance.
It also gives the wearer superhuman powers. So, it is perfect
candidate for Industry, military and rescue fields. Idea is to
design and simulate an electric-powered full-body exoskeleton
suit with aim of long battery life, Better controls, weightlifting
capacity of up to300 kg& total weight under 60 Kg. In general,
manufacturing industries with 30-250kg subassemblies typically
use hanger mechanism, cranes, robots, semi-automatic lifters.
The initiative taken by the Robo-mate is one of the first
propositions made to retain the exoskeleton notion to the
production sectors for restricting the manufacuting industries
only to Europe& to preserve the employment opportunities in
europian countries[14]. For 13 out of 26 industrial exoskeletons,
some evaluations of the physical load reductions were
performed[15]. Exoskeletons are important machines to
decrease the risk factors associated with Stressed work
musculoskeletal injuries. At this point, however, several issues
hinder acceptance in industrial applications. The main issue is
human-machine interaction and implications for
standardization[16]
According to a study, more than 72% of exoskeleton robots
use an electric motor for actuation. Around 20% of exoskeleton
robots are pneumatically powered. Hydraulic actuation was
utilized by about 5% and about 3% use alternative or hybrid
actuation methods[18]. Pneumatic Air Muscles (PAM) actuation
is not feasible due to its Precision and control[8].
II. MECHANICAL DESIGN
The consideration taken in the mechanical design was to be
simple, Lightweight, Mobile ,Safe, rigid, Ergonomic & the
possibility to accomodate, to different operators,. The mingling
factors between ergonomic principles and biomechanics of a
average human was the crucial criteria that was to be considered.
Most designs was found to use passive actuatuion but it was
unable to give the weight support which was well needed in our
case [12]. Other main feature considered was the design to be
“anthromorphic” in nature, which according to authors
of[10]&[5].faciliated the actuation or locomotion of the
exskelton very well within the human jurisdiction.
The software's used: Solidworks 2020 was used to build the
CAD of mechanical prototype , and Ansys V16.2 was used to
simulate it under static
loads conditions and to extract stress component & and
angular moment developed at the joints. and analysis when
designing.
Modular Design of Full Body Exoskeleton suit
for Industry, Construction and Military Purpose
Lalchand Kumawat, Abdul Salam. M, Ponnapalli Naga Sai Vivek, Sajja Sri Bharath, Mustafa Ali
Mustafa Emam
