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以人体生理踝部关节结构为模仿对象,设计一种转动轴线空间斜交叉的2自由度绳驱动踝部关节机构。运用D-H法建立了踝部关节的运动学模型,进行了踝关节机构的运动学仿真,分析了踝关节机构的距下关节、踝关节转角对脚部内外翻、内外旋、背曲(跖屈)运动的影响,仿真结果表明设计的踝部关节机构具有良好的运动灵活性,实现了与人体踝部关节接近的运动功能,为仿人机器人高性能踝部关节的研制提供了理论基础。
Taking a human ankle joint structure as an imitation object, a two-degree-of-freedom rope-driven ankle joint mechanism was designed with diagonal crossover axis of rotation. The kinematics model of the ankle joint was established by DH method and the kinematics simulation of the ankle joint mechanism was carried out. The effects of the subtalar joint of the ankle joint mechanism, the pronation of the ankle joint on the valgus, the internal and external rotation, the dorsiflexion ). The simulation results show that the designed ankle joint mechanism has good motion flexibility and realizes the motor function close to the human ankle joint, which provides a theoretical basis for the development of the high performance ankle joint of the humanoid robot.