基于张拉整体结构的仿生膝关节机构设计

Design of Bionic Knee Joint Mechanism based on Tensegrity Structure

在研究人体膝关节生物特征和运动机理的基础上,基于张拉整体结构,通过等效映射和仿生设计方法,构建了基于C4S2平面张拉整体结构的仿生膝关节机构映射模型,并采用机构构型分析方法,验证了机构稳定性。在满足人体膝关节刚柔耦合特征的基础上,利用反向动力学方法,完成了弹簧刚度匹配,实现了运动学求解,并通过Adams对该机构进行了仿真模拟,结果表明,仿生膝关节机构满足人体膝关节运动范围。通过弹簧形变量仿真结果与理论计算结果的对比,以及仿真运动模拟与实验测试的对比,验证了所提出基于张拉整体结构的仿生膝关节机构理论和设计的有效性和可行性。所设计的仿生膝关节机器人机构具有灵活性、半自主复位和自锁的特性,满足仿生设计要求。

On the basis of the locomotion mechanism and biological characteristic of the human knee joint,a structural mapping model of bionic knee joint mechanism is established through equivalent mapping and bionic design method which is based on a C4S2 plane tensegrity structure.By using the mechanism configuration analysis method,the stability of the mechanism is verified.The inverse dynamics method is used to match the spring stiffness and solve the kinematics through the rigid-flexible coupling characteristics of the human knee joint.The mis simulated by Adams.The bionic knee joint mechanism can realize the motion range of human-like knee joint movement by the simulation results.Compared with the simulation results and the theoretical calculation results,the simulation results and the test results,the validity and feasibility of the proposed theory and design of the bionic knee joint mechanism are verified.The bioinspired knee mechanism based on tensegrity structure which is realized the flexibility,semi-automatic recovery and self-locking meet the requirements of bionic design.