Abstract
The article is devoted to investigation of the opportunity of exoskeleton usage in industrial conditions, which can partially compensate the load during carrying out of the technological operations. Such devices can significantly reduce human fatiguability, improve operations quality, and reduce the injury risk and the professional diseases development. The article presents a mathematical model describing the lifting load process with the use of industrial exoskeleton. A mathematical apparatus, which makes it possible to obtain load lifting kinematic parameters and evaluate the exoskeleton joints forces, is presented in the work. The paper presents the numerical modeling results and analyzes them. The values of the device hinges torques were obtained. The knees and ankle joints turned out to be the most loaded during lifting process. The necessity of additional external devices usage to compensate these efforts is mentioned.
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The work of authors was supported by RFBR, research project no. 19-01-00540.
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Jatsun, S., Malchikov, A., Yatsun, A., Saveleva, E. (2021). Mathematical Modeling of Load Lifting Process with the Industrial Exoskeleton Usage. In: Ronzhin, A., Shishlakov, V. (eds) Proceedings of 15th International Conference on Electromechanics and Robotics "Zavalishin's Readings". Smart Innovation, Systems and Technologies, vol 187. Springer, Singapore. https://doi.org/10.1007/978-981-15-5580-0_22
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DOI: https://doi.org/10.1007/978-981-15-5580-0_22
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