Design and Implementation of Bionic Ankle Joint and its Cable Drive Mechanism

Qian Lei; Li Yihao; Wang Caidong; Chen Lumin; Wang Xinjie

doi:10.16578/j.issn.1004.2539.2016.09.017

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Design and Implementation of Bionic Ankle Joint and its Cable Drive Mechanism

更新时间：2022-10-20

- Design and Implementation of Bionic Ankle Joint and its Cable Drive Mechanism
- Vol. 40, Issue 9, Pages: 80-84(2016)
- 作者机构：
  
  1. 郑州轻工业学院机电工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.09.017
  CLC：
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[1]钱磊,李一浩,王才东,陈鹿民,王新杰.仿生踝关节及其绳索传动机构的设计与实现[J].机械传动,2016,40(09):80-84.

Qian Lei, Li Yihao, Wang Caidong, et al. Design and Implementation of Bionic Ankle Joint and its Cable Drive Mechanism. [J]. 40(9):80-84(2016)
[1]钱磊,李一浩,王才东,陈鹿民,王新杰.仿生踝关节及其绳索传动机构的设计与实现[J].机械传动,2016,40(09):80-84. DOI： 10.16578/j.issn.1004.2539.2016.09.017.

Qian Lei, Li Yihao, Wang Caidong, et al. Design and Implementation of Bionic Ankle Joint and its Cable Drive Mechanism. [J]. 40(9):80-84(2016) DOI： 10.16578/j.issn.1004.2539.2016.09.017.

摘要

根据人体生理踝关节的结构特点,设计了一种具有空间斜交叉轴的仿生踝关节装置。该装置有小腿关节、踝关节和距下关节3个自由度。为减小踝部质量,将踝关节和距下关节的驱动电机安装在大腿上,采用绳索绕过膝关节传动至踝与距下关节,并将绳索在轮上固定,以达到限制各关节转动角度的目的。运用D-H坐标表示方法,通过仿真,计算分析了该机构的运动姿态空间,并与人体足部相关姿态参数进行了比较。表明该机构能够实现类似于人体生理踝部关节的运动功能。该机构可用在仿人机器人领域,也可为人体踝关节运动特性的研究提供参考。

Abstract

A bionic device for the ankle,which has shaft non-perpendicular is designed in according to the structure characteristics of human physiological ankle. The device is consist of three degrees of freedoms that the rotating joint of lower leg,ankle joint and subtalar joint. To reduce the quality of ankle,the motors driving the ankle and the subtalar joint are installed on the thigh and transmission through cables,which cross the knee,fixed on the sheave to limit the rotation angle of each joint. The D-H coordinate method is used in coordinate system selection. Through simulation,the motion attitude space of the mechanism is analyzed and calculated,and compared with the related attitude parameters of human foot. It shows that this mechanism can achieve motion features that similar to human physiological ankle joint. This mechanism can be used in the field of humanoid robot,and can also be a reference for the research of the movement characteristic of the human ankle joint.

关键词

踝关节机构设计仿生

Keywords

Ankle jointMechanism designBionic

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