Structure Design Method of Robotic Leg Based on Joint or Limb Stiffness

Abstract

Abstract:

Because the stiffness curve of robotic leg has a certain deviation from the joint or limb stiffness, the structure design method of robotic leg was proposed based on biological joint or limb stiffness. Firstly, according to the principle of virtual work, the equation of joint or limb stiffness curve which could be obtained by using curve interpolation, the structure design method of robotic leg was obtained based on joint or limb stiffness. Then, integrated simulation and structure optimization of rigid-flexible coupling robotic leg were implemented based on Patran, Nastran and Adams. After that, according to the basic parameters of the human and the relevant parameter of ankle stiffness during human hopping, the structure design and its optimization were implemented respectively, at the same time, the simulation results were given to prove the effectiveness and advantages of the mothed.

Key words: limb stiffness, joint stiffness, robotic leg, structure design

摘要：

针对当前机械腿关节和动物腿关节之间、机械腿和动物腿之间的刚度曲线都有一定偏差的问题，提出了一种仿动物关节或腿刚度的机械腿结构设计方法。基于虚功原理和曲线插值法获得了动物关节或腿刚度曲线方程，并进行了Patran、Nastran、Adams联合仿真，提出了仿动物关节或腿刚度的机械腿结构设计方法及其优化方法。基于人体基本参数及人跳跃过程中腿刚度相关参数，进行了仿人腿踝关节刚度的机械腿结构实例设计和轻量化设计。仿真结果验证了该设计方法的有效性和可行性。

关键词: 腿部刚度, 关节刚度, 机械腿, 结构设计

CLC Number:

TP242

Zhao Wentao, Wang Sen, Luo Wei. Structure Design Method of Robotic Leg Based on Joint or Limb Stiffness[J]. China Mechanical Engineering, 2015, 26(13): 1712-1719.

赵文涛, 王森, 罗巍. 一种仿动物关节或腿刚度的机械腿结构设计方法[J]. 中国机械工程, 2015, 26(13): 1712-1719.

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