基于张拉整体结构的仿生膝关节机构设计

张炜; 刘琳; 宋广生

doi:10.16578/j.issn.1004.2539.2020.12.015

您当前的位置：

首页 >

文章列表页 >

基于张拉整体结构的仿生膝关节机构设计

设计计算 | 更新时间：2022-11-10

- 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
- 机械传动 2020年44卷第12期页码：92-98
- 作者机构：
  
  1.长春工业大学机电工程学院，吉林长春 130012
- 作者简介：
  
  张炜（1980— ），男，吉林省吉林市人，博士，讲师，研究方向为机电一体化综合技术。
- 基金信息：
  
  基于最优训练路径的上肢康复机器人结构设计方法研究(51875047)
- DOI：10.16578/j.issn.1004.2539.2020.12.015
  中图分类号：
扫描看全文
张炜,刘琳,宋广生.基于张拉整体结构的仿生膝关节机构设计[J].机械传动,2020,44(12):92-98.

Zhang Wei,Liu Lin,Song Guangsheng.Design of Bionic Knee Joint Mechanism based on Tensegrity Structure[J].Journal of Mechanical Transmission,2020,44(12):92-98.
张炜,刘琳,宋广生.基于张拉整体结构的仿生膝关节机构设计[J].机械传动,2020,44(12):92-98. DOI： 10.16578/j.issn.1004.2539.2020.12.015.

Zhang Wei,Liu Lin,Song Guangsheng.Design of Bionic Knee Joint Mechanism based on Tensegrity Structure[J].Journal of Mechanical Transmission,2020,44(12):92-98. DOI： 10.16578/j.issn.1004.2539.2020.12.015.

摘要

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。

Abstract

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 mechanism is 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.

关键词

人体膝关节机构张拉整体等效映射仿生膝关节机构半自主复位

Keywords

Human knee joint mechanismTensegrityEquivalent mappingBionic knee joint mechanismSemi-automatic recovery

references

ALEXANDER R M.Three uses for springs in legged locomotion［J］.The International journal of Robotics Research，1990，9（2）：53-61.

JINDRICH D L，QIAO M.Maneuvers during legged locomotion［J］.Chaos，2009，19（2）：026105.

REN Z，ROOZING W，TSAGARAKIS N.The eLeg：a novel efficient leg prototype powered by adjustable parallel compliant actuation principles［C］.Proceedings of the 2018 IEEE RAS International Conference on Humanoids Robots，2018：1-9.

LI C，PULLIN A O，HALDANE D W，et al.Terradynamically streamlined shapes in animals and robots enhance traversability through densely cluttered terrain［J］.Bioinspir Biomim，2015，10（4）：046003.

CHEN T，BILAL O R，SHEA K，et al.Harnessing bistability for directional propulsion of soft，untethered robots［J］.Proceedings of the National Academy of Sciences USA，2018，115（22）：5698-5702.

INGBER D E.The architecture of life［J］.Scientific American，1998，278（1）：48-57.

WANG N，NARUSE K，STAMENOVIĆ D，et al.Mechanical behavior in living cells consistent with the tensegrity model［J］.Proceedings of the National Academy of Sciences of the United States of America，2001，98（14）：7765-7770.

MIRLETZ B T，BHANDAL P，ADAMS R D，et al.Goal-directed CPG-based control for tensegrity spines with many degrees of freedom traversing irregular terrain［J］.Soft Robotics，2015，2（4）：165-176.

VICECONTI M，TESTI D，TADDEI F，et al.Biomechanics modeling of the musculoskeletal apparatus：status and key issues［J］.Proceedings of the IEEE，2006，94（4）：725-739.

PANDY M G，ANDRIACCHI T P.Muscle and joint function in human locomotion［J］.Annual Review of Biomedical Engineering，2010，12（1）：401-433.

ANDRIACCHI T P，ANDERSSON G B，ORTENGREN R，et al.A study of factors influencing muscle activity about the knee joint［J］.Journal of Orthopaedic Research，1984，1（3）：266-275.

ARNOLD E M，WARD S R，LIEBER R L，et al.A model of the lower limb for analysis of human movement［J］.Annals of Biomedical Engineering，2010，38（2）：269-279.

CARBONE V，FLUIT R，PELLIKAAN P，et al.Tlem 2.0-a comprehensive musculoskeletal geometry dataset for subject-specific modeling of lower extremity［J］.Journal of Biomechanics，2015，48（5）：734-741.

蔡建国，冯健.张拉整体结构的多平衡态研究［J］.土木工程学报，2014，47（10）：32-39.

CAI Jianguo，FENG Jian.Study on multiple equilibrium configurations of tensegrity structures［J］.China Civil Engineeing Journal，2014，47（10）：32-39.

RUSSELL F，ZHU Y，HEY W，et al.A biomimicking design for mechanical knee joints［J］.Bioinspiration & Biomimetics，2018，13（5）：056012.

OHSAKI M，ZHANG J.Stability conditions of prestressed pin-jointed structures［J］.International Journal of Non-Linear Mechanics，2006，41（10）：1109-1117.

CONNELLY R.Tensegrity structures：why are they stable？［J］.Rigidity Theory and Applications，1999：47-54.

OSHKOUR A A，ABUOSMAN N A，DAVOODI M M，et al.Knee joint stress analysis in standing［C］.Proceedings of the 5th Kuala Lumpur International Conference on Biomedical Engineering，2011，35：179-181.

浏览量

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

基于张拉整体结构的变径步行轮结构设计