The second iteration of the overall CAD design has been improved in four main ways. First, the Watt 6-bar mechanism is actuated by a crank-rocker. Second, the new crank-rocker is timed mechanically by means of a Geneva mechanism. Third, a detailed and improved human-exoskeleton interface is detailed. Fourth, the nut and bolt fasteners from the previous design are replaced with shafts, bearings, spacers, and retaining rings to ensure a more robust and frictionless interface between linkages.
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Prototype 2 Motion Study in SolidWorks
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In general, the shafts are press-fit into one linkage and the inside diameter of the bearing. The bearing is press fit into the other link. A spacer is placed over the shaft and between both linkages to ensure no contact. Finally, retaining rings are placed on both sides to ensure that the shaft and both linkages are axially secured.