Design of Energy-saving and Vibration Damping Knee Joint of Humanoid RobotBased on Bionic Principles
CHEN Bing1, LUO Minzhou1,2, SUN Shaoming2, WANG Meiling1, WANG Kun1
1. Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China;
2. Institute of Advanced Manufacturing Technology, Hefei Institute of Physical Science, Chinese Academy of Science, Changzhou 213164, China
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. ROBOT, 2014, 36(2): 218-223. DOI: 10.3724/SP.J.1218.2014.00218.
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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