新型仿生膝关节的机构设计与仿真研究  

Humanoid Design and Movement Simulation of a New Knee Prosthesis

作　　者：杨义勇[1] 王人成[2] 王延利[1] 金德闻[2] 田尚云[1] 

机构地区：[1]中国地质大学(北京),北京 100083 [2]清华大学,北京 100084

出　　处：《中国机械工程》2008年第1期72-74,79,共4页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50475017);科学钻探国家专业实验室开放基金资助项目(NLSD200607)

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。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.

关 键 词：假肢膝关节 仿生构形设计 运动仿真 拟人机器人 

分 类 号：TH137.51[机械工程—机械制造及自动化] R323.7[医药卫生—人体解剖和组织胚胎学]