A Bio-Inspired Condylar Hinge for Robotic Limbs
A Bio-Inspired Condylar Hinge for Robotic Limbs
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DOI：
10.1115/1.4024471
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发表时间：
2013-08-01
影响因子：
2.6
通讯作者：
Vaidyanathan, Ravi
中科院分区：
文献类型：
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作者：
Etoundi, Appolinaire C.;Burgess, Stuart C.;Vaidyanathan, Ravi
受人膝关节的启发，提出了一种新型的机械肢体髁铰。人体膝关节的韧带可以建模为一个倒平行四边形四杆机构。膝关节在股骨和胫骨之间也有一个髁状凸轮机构。仿生关节模仿了人类膝关节的四杆机构和凸轮机构。仿生设计具有与人类膝关节相同的理想特征，包括紧凑性、高机械优势、高强度、高刚度和锁定在直立位置。这些特性对于通常存在狭窄空间和质量限制的机械肢体来说非常重要。设计并测试了一个尺寸与人类膝关节相似的铰链关节原型。实验结果表明，新型髁铰在力学性能和刚度方面均优于销铰。原型铰链具有机械优势，比针接铰链大35%，这导致执行器的峰值力相应减少高达35%，用于下蹲运动。本文还提出了一种五步设计方法，以生产一种与凸轮机构相结合的倒平行四边形机构。
This paper presents a novel condylar hinge for robotic limbs which was inspired by the human knee joint. The ligaments in the human knee joint can be modeled as an inverted parallelogram four-bar mechanism. The knee joint also has a condylar cam mechanism between the femur and tibia bones. The bio-inspired joint mimics the four-bar mechanism and the cam mechanism of the human knee joint. The bio-inspired design has the same desirable features of a human knee joint including compactness, high mechanical advantage, high strength, high stiffness and locking in the upright position. These characteristics are important for robotic limbs where there are often tight space and mass limitations. A prototype hinge joint similar in size to the human knee joint has been designed and tested. Experimental tests have shown that the new condylar hinge joint has superior performance to a pin-jointed hinge in terms of mechanical advantage and stiffness. The prototype hinge has a mechanical advantage that is greater than a pin-jointed hinge by up to 35% which leads to a corresponding reduction in the peak force of the actuator of up to 35% for a squatting movement. The paper also presents a five-step design procedure to produce a combined inverted parallelogram mechanism with a cam mechanism.