Design and Analysis of a Bioinspired Foot Mechanism based on Tensegrity Structure

Jianwei Sun; Lü Jiale; Jinrong Sun; Guangsheng Song; Xiaodong Li

doi:10.16578/j.issn.1004.2539.2022.01.011

您当前的位置：

首页 >

文章列表页 >

Design and Analysis of a Bioinspired Foot Mechanism based on Tensegrity Structure

Design· Calculation | 更新时间：2022-09-23

- Design and Analysis of a Bioinspired Foot Mechanism based on Tensegrity Structure
- Journal of Mechanical Transmission Vol. 46, Issue 1, Pages: 87-92(2022)
- 作者机构：
  
  1.长春工业大学机电工程学院，吉林长春 130012
  2.吉林大学工程仿生教育部重点实验室，吉林长春 130022
  3.钱潮轴承有限公司智造工程中心，浙江杭州 311247
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.01.011
  CLC：
扫描看全文
孙建伟,吕家乐,孙金荣等.基于张拉整体结构仿生足式机构的设计与分析[J].机械传动,2022,46(01):87-92.

Sun Jianwei,Jiale Lü,Sun Jinrong,et al.Design and Analysis of a Bioinspired Foot Mechanism based on Tensegrity Structure[J].Journal of Mechanical Transmission,2022,46(01):87-92.
孙建伟,吕家乐,孙金荣等.基于张拉整体结构仿生足式机构的设计与分析[J].机械传动,2022,46(01):87-92. DOI： 10.16578/j.issn.1004.2539.2022.01.011.

Sun Jianwei,Jiale Lü,Sun Jinrong,et al.Design and Analysis of a Bioinspired Foot Mechanism based on Tensegrity Structure[J].Journal of Mechanical Transmission,2022,46(01):87-92. DOI： 10.16578/j.issn.1004.2539.2022.01.011.

摘要

传统足式机器人在复杂地形上自适应行走方面存在着机构柔性不足。基于张拉整体结构与人体肌肉骨骼系统相似性，提出了一种仿生张拉足式机构，用于提升传统足式机器人自适应地形和稳定锁紧性能。通过张拉单元匹配建立了类似人体足部的张拉整体结构等效映射模型；采用仿生设计方法实现了机构构型设计；制作了物理样件并搭建了实验平台。结果表明，提出的仿生足式机构具有较好的柔性和稳定性，提升了传统足式机器人斜坡地形的自适应稳定行走能力。

Abstract

Traditional feet robots have shortcomings of mechanism flexibility insufficient in adaptive walking on complex terrain. A bio-tensegrity foot mechanism is proposed for promoting the performance of adaptive terrain and stable locking locomotion of the conventional foot robots on sloped terrain based on the similarity between musculoskeletal systems and a tensegrity structure. The equivalent mapping model of a tensegrity structure is established by the matching of tension unit，the design of configuration of the mechanism achieved by the method of bionic design，a physical sample is made and an experimental platform is built. The results show that the proposed bionic foot mechanism has good flexibility and stability，the adaptive and stable walking ability of the traditional foot robot on slope terrain are improved.

关键词

张拉整体结构仿生设计自适应运动锁紧机构

Keywords

Tensegrity structureBioinspired designAdaptive motionLocking mechanism

references

GOLDFARB M，LAWSON B E，SHULTZ A H.Realizing the promise of robotic leg prostheses［J］.Science Translational Medicine，2013，5（210）：210ps15.

CAPUTO J M，COLLINS S H.A universal ankle–foot prosthesis emulator for human locomotion experiments［J］.Journal of Biomechanical Engineering，2014，136（3）：035002.

DONG D，GE W，LIU S，et al.Design and optimization of a powered ankle-foot prosthesis using a geared five-bar spring mechanism［J］.International Journal of Advanced Robotic Systems，2017，14（3）：1-12.

AU S K，WEBER J，HERR H.Powered ankle-foot prosthesis improves walking metabolic economy［J］.IEEE Transactions on Robotics，2009，25（1）：51-66.

周玉林，高峰.仿人机器人构型［J］.机械工程学报，2006，42（11）：66-74.

ZHOU Yulin，GAO Feng.Mechanism architecture of humanoid robot［J］.Journal of Mechanical Engineering，2006，42（11）：66-74.

费燕琼，吕海洋，沈星尧.模块化软体机器人运动模式［J］.上海交通大学学报，2013，47（12）：1870-1873.

FEI Yanqiong，LÜ Haiyang，SHEN Xingyao.Moving mode of modular soft robot［J］.Journal of Shanghai Jiaotong University，2013，47（12）：1870-1873.

王田苗，郝雨飞，杨兴帮，等.软体机器人：结构，驱动，传感与控制［J］.机械工程学报，2017，53（13）：1-13.

WANG Tianmiao，HAO Yufei，YANG Xingbang，et al.Soft robotics：structure，actuation，sensing and control［J］.Journal of Mechanical Engineering，2017，53（13）：1-13.

SHEPHERD R F，ILIEVSKI F，CHOI W，et al.Multigait soft robot［J］.Proceedings of the National Academy of Sciences，2011，108（51）：20400-20403.

RUS D，TOLLEY M T.Design，fabrication and control of soft robots［J］.Nature，2015，521（7553）：467-475.

INGBER D E.Tensegrity：the architectural basis of cellular mechanotransduction［J］.Annual Review of Physiology，1997，59（1）：575-599.

RIEFFEL J，TRIMMER B，LIPSON H.Mechanism as mind-what tensegrities and caterpillars can teach us about soft robotics［J］.Alife，2008：506-512.

杜汶娟，马书根，李斌，等.可变结构体机器人滚动步态参数优化［J］.机械工程学报，2016，52（17）：127-136.

DU Wenjuan，MA Shugen，LI Bin，et al.Parameter optimization for rolling motion of structure variable robots［J］.Journal of Mechanical Engineering，2016，52（17）：127-136.

罗阿妮，刘贺平，SKELTON R E，等.张拉整体基本形体稳定构型理论［J］.机械工程学报，2017，53（23）：62-73.

LUO Ani，LIU Heping，SKELTON R E，et al.The theory of basic tensegrity unit stable forming［J］.Journal of Mechanical Engineering，2017，53（23）：62-73.

SUN Jianwei，SONG Guangsheng，CHU Jinkui，et al.An adaptive bioinspired foot mechanism based on tensegrity structures［J］.Soft Robotics，2019，6（6）：778-789.

朱伟，王传伟，顾开荣，等.一种新型张拉整体并联机构刚度及动力学分析［J］.吉林大学学报（工学版），2018，48（6）：1777-1786.

ZHU Wei，WANG Chuanwei，GU Kairong，et al.Stiffness and dynamics analysis of a new type of tensegrity parallelmechanism［J］.Joural of Jilin University（Engineering and Technology Edition），2018，48（6）：1777-1786.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

No data

Related Author

No data

Related Institution

No data

⁰