A bio-inspired condylar hinge joint for mobile robots
A bio-inspired condylar hinge joint for mobile robots
复制标题
用于移动机器人的仿生髁铰链关节
DOI：
--
复制
发表时间：
2011
期刊：
影响因子：
--
通讯作者：
S. Burgess
中科院分区：
文献类型：
--
作者：
Appolinaire C. Etoundi;R. Vaidyanathan;S. Burgess
本文提出了一种基于人体膝关节的仿生设计的移动机器人铰链关节。该关节模仿股骨和胫骨的弯曲轮廓，还模仿十字韧带的四杆运动。仿生设计具有与自然膝关节相同的理想特征，包括紧凑性、移动旋转中心、高强度、高刚度和锁定在直立位置。这些特性对于空间和质量通常有限的移动机器人来说非常重要。数值分析和实验测试表明，新型铰链接头在刚度和机械优势方面均优于销轴铰链。
This paper presents a bio-inspired design of hinge joint for mobile robots based on the human knee joint. The joint mimics the curved profiles of the femur and tibia bones and also mimics the four-bar motion of the cruciate ligaments. The bio-inspired design has the same desirable features of a natural knee joint including compactness, a moving centre of rotation, high strength, high stiffness and locking in the upright position. These characteristics are important for mobile robots where there are often tight space and mass limitations. Numerical analysis and experimental tests have shown that the new hinge joint has superior performance to a pin jointed hinge in terms of stiffness and mechanical advantage.