PRELIMINARY DESIGN FOR THE SHOULDERS AND ARMS OF A POWERED EXOSKELETAL STRUCTURE.
Abstract
A preliminary design of a portion of a powered exoskeletal device (termed the Man Amplifier) is presented. This portion consists of the fourteen joints (seven for each shoulder and arm) comprising the arm and shoulder structure. The hands are not included. The preliminary design is based upon the requirement that each arm be able to support and manipulate 1000 lbs in any position. The stresses within the structure are computed for various positions of the joints. Rotary actuators are described that satisfy the load requirement with a pressure drop of 2000 psi across them. A technique for sensing limb positions of the wearer is presented. Desirable characteristics of the servo valve are given, and one particular servo configuration is analyzed. The analysis is used to select approximate values for the valve parameters. It is concluded that the size of the actuators is the significant physical property effecting mobility. Further, it is concluded that the selected load rating be reduced for future designs. (Author)
Document Details
- Document Type
- Technical Report
- Publication Date
- Jun 15, 1965
- Accession Number
- AD0623389
Entities
People
- Neil J. Mizen
Organizations
- Calspan