摘要
针对传统机器人关节难以满足现代机器人越来越高的性能需要,根据仿生学原理,模拟生物体结构设计了人工肌肉驱动的仿生膝关节。为了使仿生膝关节在要求的运动范围内有最优的有效力传动性能,建立了该仿生膝关节传动角的多变量非线性数学优化模型,对其仿生结构进行了结构优化。通过仿真对比分析,优化后的结构比优化前的结构在有效力传动性能方面有了较大提高。本文为仿生关节的设计及优化提供了一种新的思路。
As the traditional robot joint is difficult to satisfy the more and more high demand,the structure of bionic knee that is driven by artificial muscle is designed according to the principle of bionics. In order to get the better performance, the multi variable nonlinear mathematical optimization model of the bionic knee is set up to optimize the structure of the bionic structure. The simulation result shows that the optimized structure has better performance at the effective force transmission than the original structure. This paper provides a new idea for the design and optimization of the bionic joint.
出处
《电子设计工程》
2014年第10期4-6,共3页
Electronic Design Engineering
基金
科技部国际合作项目(2010DFB80730)
关键词
仿生膝关节
传动角
优化设计
人工肌肉
bionics knee joint
transmission angle
optimization
artificial muscles
