The Design and Modeling of Multi-axis Knee Artificial Leg
In order to provide an ideal test-bed for the development of intelligent bionic leg, a new pattern humanoid robot--biped robot with heterogeneous legs (BRHL) is proposed. To simulate human normal gait well, artificial leg of BRHL adopts multi-axis knee mechanism and is different from artificial leg of common biped robot. The conception and research purpose of BRHL are expatiated. Based on human bioscience,bionic design of multi-axis knee artificial leg is analyzed and virtual prototype is given. Then, kinematics model and dynamics model are deduced in detail. Based on human normal gait data, simulation of dynamics model is done. In the end, mechanical optimization design of multi-axis knee artificial leg is discussed and simulation is done. Optimal mechanism parameters of multi-axis knee artificial leg are given and prototype of BRHL is given. The research indicates that multi-axis knee artificial leg can simulate human leg well.
biped robot with heterogeneous legs artificial leg multi-axis knee kinematics model dynamics model.
Hualong Xie Fei Li Yongxian Liu Xinhe Xu
School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110004, P.R. China School of Information Science & Engineering, Shenyang University of Technology, Shenyang 110178, P.R School of Information Science & Engineering, Northeastern University, Shenyang 110004, P.R. China
国际会议
北京
英文
38-43
2008-11-06（万方平台首次上网日期，不代表论文的发表时间）