Abstract:

According to the functional analysis, several knee prostheses had been proposed. The structure of the knee prosthesis was determined by a multi-factor fuzzy composite judge method. Technological design was carried out, and using movement simulation，the movement range of the cycle-cylinder and the torque with squatting were established. This technological method can be used in the design of the knee prosthesis,and can be used in the design of Humanoid robot.

Key words: prosthesis knee joint, bionics shape design；movement simulation；humanoid robot

摘要：

通过对假肢膝关节系统的功能原理分析，提出了多种新型假肢膝关节结构方案，拟定了结构方案比较与选择的基本要求与准则，完成了结构设计与技术设计；结合运动仿真分析，确定了膝关节在主动屈曲时回转摆动缸的摆动范围，分析了下蹲过程中的机构力矩变化规律。设计与仿真的结果对于连骨式假肢膝关节设计、双足步行机器人开发有参考价值。

关键词: 假肢膝关节, 仿生构形设计, 运动仿真, 拟人机器人