摘要
通过对人体膝关节结构的研究,设计了一种基于仿生原理的类人机器人膝关节.仿效人体膝关节处的ACL、PCL(前、后十字韧带)及半月板结构,为机器人膝关节设计了节能和减振结构,降低了机器人在迈步期膝关节的峰值驱动力矩,减小了机器人脚着地阶段膝关节受到的冲击,并增加了膝关节的刚度,提高了机器人行走的稳定性.采用NDI公司的Optotrak Certus三维动态测量系统测得人体各关节运动角度与时间的离散点序列,用最小二乘法拟合成机器人行走步态曲线.在ADAMS软件环境下建立虚拟样机模型,对机器人进行了平地行走仿真分析,仿真结果验证了设计的有效性与可行性.
A bionic knee joint of humanoid robot is designed through the study of human＇s knee joint. Imitating the structure of ACL, PCL （anterior and posterior cruciate ligaments） and meniscus of human＇s knee joint, an energy-saving and vibration damping structure is designed for robot＇s knee joint, which lowers the peak driving torque at the moving period, reduces the impact of the knee joint at the plantar contact phase, increases the stiffness of the knee and improves the stability of the walking. Optotrak Certus three-dimensional dynamic measurement system of NDI company is used to measure the angle-time discrete sequence of human body＇s each joint movement, and the walking gait curves of the robot are fitted by the least squares method. Finally, the walk simulation of the robot is carded out with its virtual prototype established in ADAMS, the results on flat terrain verifies the validity and feasibility of the design.
出处
《机器人》
EI
CSCD
北大核心
2014年第2期218-223,共6页
Robot
基金
国家自然科学基金资助项目(51005223
51275505
61105111)
关键词
类人机器人
仿生
节能
减振
仿真
humanoid robot
bionic
energy-saving
vibration damping
simulation
