Contact Biomechanical Responce of Bionic Joint for Biped Robot
Bionic knee was important basic driving element for biped robot. With the adult males right leg knee working as bionic prototype, the three-dimensional finite element model was established, and the cinnections balance equation was established with the help of nonlinear contact theory, then system penalty function was used to deal with the contact constraint by considering the minimum potential energy under the restriction of weight load conditions. Further, the biomechanical response and shock buffering function of sagittal knee with cartilage was analysed, and the constraint stress mechanism of articular cartilage between the sagittal knee with and without cartilage was compared. The comparative analysis would offer biomechanics basis for bionic joint drives optimal design.
bionic joint cartilage biomechanics contact response
Xuefeng Zhang Xiansheng Qin Zhanfeng Yang Jing Li Zhanxi Wang
College of Mechatronics Northwestern Polytechnical University Xian, Shannxi, 710072, China
国际会议
杭州
英文
156-159
2012-10-28（万方平台首次上网日期，不代表论文的发表时间）