人工肌肉驱动的仿生腿结构系统设计与仿真研究

Design and Simulation of Biomimetic Leg Structure System Driven by Artificial Muscles

基于三维辅助设计软件Pro/E进行了仿生腿模型结构设计和建模研究;介绍了仿生腿的主要关节结构——髋、膝、踝三个关节的结构设计及其驱动设计过程,论述了以人工肌肉作为仿生腿膝关节驱动方式的可行性,并基于Pro/E软件的Mechanism模块完成了机构仿真实验,验证了设计的准确性。

This paper studies the structure design and modeling of the bionic leg model based on the three-dimensional auxiliary design software Pro/E,introduces the structure design and driving design process of the main joint structure of the bionic leg-hip,knee and ankle,discusses the feasibility of using artificial muscle as the knee joint driving mode of the bionic leg,and completes the mechanism simulation experiment based on the Mechanism module of Pro/E software to verify the accuracy of the design.