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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。
According to the structural characteristics of the human ankle, a bionic ankle device with oblique cross-axis was designed. The device has three degrees of freedom for the lower leg, ankle and subtalar joints. In order to reduce the quality of the ankle, the ankle and subtalar motor drive motor installed in the thigh, the use of rope around the knee joint drive to the ankle and subtalar joint, and the ropes fixed on the wheel in order to limit the rotation of the joints The purpose of the angle. By means of D-H coordinate representation, the space of motion posture of the mechanism is calculated and analyzed through simulation, and compared with the human body foot posture parameters. Indicating that the agency can achieve similar to the human body ankle joint motor function. The mechanism can be used in the field of humanoid robot, but also can provide a reference for the study of human ankle motion.