Рассматриваются трехмерные модели экзоскелетов со звеньями переменной длины. На основании анализа уравнений для стержневых механических систем с различным числом звеньев строится обобщение уравнений движения экзоскелетов в векторно-матричном виде. Выводятся формулы для элементов каждой матрицы, входящей в уравнения. В результате становится возможным автоматизированно записывать уравнения движения для стержневых n-звенных систем типа трехмерной модели экзоскелета, минуя этап их составления, в чем и заключается новизна исследования.
The topic of the article is a three-dimensional model of the exoskeleton with the links of variable length. The idea is based on the analysis of the equations for a truss of the mechanical systems with a different number of links, and on generalization of the equations of motion of the exoskeleton in the vector-matrix form. Formulas are derived for the elements in each matrix, which is a part of the equation. The proposed matrix form of the equations of motion of the exoskeleton is universal and can be applied to the motion of the rod of a mechanical system with any number of links, which change their length. The structure of the matrix will remain the same, the change will concern the dimensionality, number of masses, lengths of the links of each matrix element. In practice, the proposed model can be used to create manipulators, anthropomorphic robots, exoskeletons and artificial limbs, artificial yielding links, which imitate the properties of the biological tissues of the human musculoskeletal system, so that movement of the artificial mechanism could be as close as possible to the movement of a person. The result allows us to automate writing of equations of motion for the rod of n-tier systems, of the three-dimensional model of the exoskeleton type, bypassing the stage of their preparation, which is a novelty of the research.
The authors declare that there are no conflicts of interest present.