绳驱动仿人踝关节机构设计及其运动学分析  

Design and Kinematics Research of Cable-driven Humanoid Ankle Joint

作　　者：陈鹿民[1] 王才东[1] 陈仁涛[2] 王新杰[1] 

机构地区：[1]郑州轻工业学院机电工程学院,郑州450002 [2]中国电子科技集团公司第二十七研究所,郑州450047

出　　处：《机械设计与研究》2015年第5期31-34,41,共5页Machine Design And Research

基　　金：河南省科技攻关资助项目(122102210435);河南省高校科技创新团队资助项目(2012IRTSTHN013)

摘　　要：以人体生理踝部关节结构为模仿对象,设计一种转动轴线空间斜交叉的2自由度绳驱动踝部关节机构。运用D-H法建立了踝部关节的运动学模型,进行了踝关节机构的运动学仿真,分析了踝关节机构的距下关节、踝关节转角对脚部内外翻、内外旋、背曲(跖屈)运动的影响,仿真结果表明设计的踝部关节机构具有良好的运动灵活性,实现了与人体踝部关节接近的运动功能,为仿人机器人高性能踝部关节的研制提供了理论基础。A two-degrees-of-freedom ankle joint mechanism with cross rotation axis and cable-driven was designed to imitate the human ankle joint structure. The kinematic model of the ankle joint mechanism was established by D-H method. The synergistic influences of the angle of ankle joint and subtalar joint on the foot motion of inversion ＆ eversion, adduction ＆ abduction, dorsiflexion ＆ plantar flexion were analyzed by the kinematics simulation of ankle. The simulation results show that the ankle joint mechanism has good performance of motion flexibility and similar motion function of human ankle. This study provides a theoretical basis for the development of high performance ankle joint of humanoid robot.

关 键 词：仿人机器人 踝部关节 结构设计 运动学 

分 类 号：TH113[机械工程—机械设计及理论]