title: ÐÐ°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¸ ÑÐ¾Ð¿Ð¾Ð»Ð¾Ð³Ð¸ÑÐµÑÐºÐ°Ñ Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ñ ÑÐ»ÐµÐ¼ÐµÐ½ÑÐ¾Ð² ÐºÐ°ÑÐºÐ°ÑÐ° ÑÐºÐ·Ð¾ÑÐºÐµÐ»ÐµÑÐ°
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Mathematical modeling and topological optimization of exoskeleton frame elements
Creators: name: ÐÐ°ÑÑÐ½ÐºÐ¸Ð½, ÐÐ²Ð°Ð½
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2024
Subjects: ÑÐºÐ·Ð¾ÑÐºÐµÐ»ÐµÑ
ÑÐ¾Ð¿Ð¾Ð»Ð¾Ð³Ð¸ÑÐµÑÐºÐ°Ñ Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ñ
Ð±Ð¸Ð¾Ð¼ÐµÑ Ð°Ð½Ð¸ÐºÐ°
Ð°Ð½ÑÑÐ¾Ð¿Ð¾Ð¼ÐµÑÑÐ¸ÑÐµÑÐºÐ¸Ðµ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÑ
ÑÐºÐ·Ð¾ÑÐºÐµÐ»ÐµÑÐ½ÑÐ¹ ÐºÐ°ÑÐºÐ°Ñ
ÑÐ¸ÐºÐ»Ð¸ÑÐµÑÐºÐ¸Ðµ Ð½Ð°Ð³ÑÑÐ·ÐºÐ¸
ÑÑÑÐ°Ð»Ð¾ÑÑÑ Ð¼Ð°ÑÐµÑÐ¸Ð°Ð»Ð°
exoskeleton
topological optimization
biomechanics
anthropometric parameters
exoskeleton frame
cyclic loads
material fatigue

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description: The subject of this research is electromechanical devices - exoskeletons. In particular, the existing exoskeleton frame, which serves as the supporting base of the entire device, is being optimized. The exoskeletal frame is present only in ex-oskeletons classified as rigid. An analysis of the literature showed that exoskeletal frames are designed and calculated using standard CAD and CAE computeraided design packages. Thanks to them, the loads that the exoskeleton takes on are calculated, the geometry of future units is designed, and then a strength calculation is performed. The resulting exoskeleton frames are comfortable and reliable, which satisfies the re-quirements for such devices. One of the main requirements is to reduce the weight of the exoskeleton frame as much as possible while maintaining strength characteristics. Similar problems are often encountered in engineering practice and are successfully solved. But in the case of exoskeletal frames, determining the loads is more diffi-cult. Most often, they are determined by transitioning from a real object, the hu-man body, to a mechanical system consisting of levers with concentrated mass, interconnected by hinges of varying degrees of mobility. The approach of this work is different. An analysis of the dynamics of the movements of the human body while walking is carried out by solving the inverse problem of dynamics. For this purpose, a data set was obtained. Using record-ings from the VICON video capture system, kinematic characteristics were ob-tained, and using formulas derived from extensive anatomical research, the mass-inertial characteristics of human body segments were calculated. After which the loads on the hinge joints were calculated. The goal of the work is topological optimization of the existing exoskeleton frame in order to reduce mass and at the same time minimize the compliance of the nodes. Also calculate the number of operating cycles of each node. As a result, an optimized geometry of the nodes was obtained, as well as the stress fields in them. The deformations of the nodes under load were ob-tained. The approaches outlined in this work may be useful for the future design of lighter, stronger, and more advanced exoskeletons.