陈兵, 骆敏舟, 孙少明, 王美玲, 王琨. 基于仿生原理的节能减振类人机器人膝关节的设计[J]. 机器人, 2014, 36(2): 218-223. DOI: 10.3724/SP.J.1218.2014.00218
引用本文: 陈兵, 骆敏舟, 孙少明, 王美玲, 王琨. 基于仿生原理的节能减振类人机器人膝关节的设计[J]. 机器人, 2014, 36(2): 218-223. DOI: 10.3724/SP.J.1218.2014.00218
CHEN Bing, LUO Minzhou, SUN Shaoming, WANG Meiling, WANG Kun. Design of Energy-saving and Vibration Damping Knee Joint of Humanoid RobotBased on Bionic Principles[J]. ROBOT, 2014, 36(2): 218-223. DOI: 10.3724/SP.J.1218.2014.00218
Citation: CHEN Bing, LUO Minzhou, SUN Shaoming, WANG Meiling, WANG Kun. Design of Energy-saving and Vibration Damping Knee Joint of Humanoid RobotBased on Bionic Principles[J]. ROBOT, 2014, 36(2): 218-223. DOI: 10.3724/SP.J.1218.2014.00218

基于仿生原理的节能减振类人机器人膝关节的设计

Design of Energy-saving and Vibration Damping Knee Joint of Humanoid RobotBased on Bionic Principles

  • 摘要: 通过对人体膝关节结构的研究,设计了一种基于仿生原理的类人机器人膝关节.仿效人体膝关节处的ACL、PCL(前、后十字韧带)及半月板结构,为机器人膝关节设计了节能和减振结构,降低了机器人在迈步期膝关节的峰值驱动力矩,减小了机器人脚着地阶段膝关节受到的冲击,并增加了膝关节的刚度,提高了机器人行走的稳定性.采用NDI公司的Optotrak Certus三维动态测量系统测得人体各关节运动角度与时间的离散点序列,用最小二乘法拟合成机器人行走步态曲线.在ADAMS软件环境下建立虚拟样机模型,对机器人进行了平地行走仿真分析,仿真结果验证了设计的有效性与可行性.

     

    Abstract: A bionic knee joint of humanoid robot is designed through the study of human's knee joint. Imitating the structure of ACL, PCL (anterior and posterior cruciate ligaments) and meniscus of human's knee joint, an energy-saving and vibration damping structure is designed for robot's knee joint, which lowers the peak driving torque at the moving period, reduces the impact of the knee joint at the plantar contact phase, increases the stiffness of the knee and improves the stability of the walking. Optotrak Certus three-dimensional dynamic measurement system of NDI company is used to measure the angle-time discrete sequence of human body's each joint movement, and the walking gait curves of the robot are fitted by the least squares method. Finally, the walk simulation of the robot is carried out with its virtual prototype established in ADAMS, the results on flat terrain verifies the validity and feasibility of the design.

     

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