Structural Design and Kinematic Analysis of an Assistive Exoskeleton for Manual Handling

The field of upper limb exoskeleton robots has seen significant growth in recent years. Domestic research in this area is still in its infancy, with relatively few robots capable of effec-tively addressing the needs for upper limb movement assistance, particularly regarding safety considerations. In response to this gap, this study aims to develop an exoskeleton robot designed spe-cifically to assist physical laborers in carrying tasks. From a hu-man bionics perspective, the overall mechanical structure of the exoskeleton was modeled in three dimensions using SolidWorks software. Subsequently, a kinematic model of the designed upper limb exoskeleton robot mechanism was established, including a D-H parameter relationship table. Numerical calculations were con-ducted, and the three-dimensional workspace was plotted using Matlab programming. The robot structure was optimized based on spatial dimensions, followed by finite element analysis of the key components of the robot using ANSYS Workbench software. The research results indicate that the key components meet the strength requirements, validating the rationality of the structural design and laying a theoretical foundation for subsequent re-search.