Simulation of the Exoskeletons Group Work During Load Lifting Process

The article considers the problem of controlled load lifting using a group of active exoskeletons equipped with lifting mechanisms. The group use of several exoskeletons allows lifting, holding and carrying loads of greater weight and size, however, it requires methods and algorithms of work that ensure the safety and efficiency of the operations performed. In order to study the process of group use, within the framework of the work, a mathematical model was developed for lifting a load by two exoskeletons, which makes it possible to study the influence of various system parameters on the movement of a load during lifting. The article proposes the structure of an automatic control system that implements wireless synchronization of drives during group use of exoskeletons. A system for assessing the quality of lifting a load is proposed, based on a set of criteria characterizing the swinging and skew of the load during lifting, and the power consumption of exoskeletons. As part of the work, the laws of changing the values of criteria from various parameters of the system are obtained and their analysis is performed.