Design and simulation of a cable-pulley-based transmission for artificial ankle joints  

作　　者：Huaxin LIU Marco CECCARELLI Qiang HUANG 

机构地区：[1]Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China [2]Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China [3]Laboratory of Robotics and Mechatronics (LARM), DICeM, University of Cassino and South Latium, Cassino 03043, Italy [4]Beijing Innovation Center for Intelligent Robots and Systems, Beijing 100081, China [5]State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing 100081, China

出　　处：《Frontiers of Mechanical Engineering》2016年第2期170-183,共14页机械工程前沿（英文版）

基　　金：the National Natural Science Foundation of China （Grant Nos. 61320106012, 61375103, 61533004, 61273348, 61175077, and 61321002）. Partial support was received from the Beijing Municipal Science and Technology Project （Grant No. Z141100002014004）, the ＂863＂ Program of China （Grant Nos. 2014AA041602, 2015AA042305, and 2015AA043202）, the Key Technol- ogies Research and Development Program （Grant Nos. 2015BAF13B01 and 2015BAK35B01）, the Beijing Natural Science Foundation （Grant No. 4154084）, and the ＂111＂ Project （Grant No. B08043）. The second author acknowledges Beijing Institute of Technology for supporting his visiting professorship at the Institute of Intelligent Robots in 2014-2015.

摘　　要：In this paper, a mechanical transmission based on cable pulley is proposed for human-like actuation in the artificial ankle joints of human-scale. The anatomy articular characteristics of the human ankle is discussed for proper biomimetic inspiration in designing an accurate, efficient, and robust motion control of artificial ankle joint devices. The design procedure is presented through the inclusion of conceptual considerations and design details for an interactive solution of the transmission system. A mechanical design is elaborated for the ankle joint angular with pitch motion. A multi-body dynamic simulation model is elaborated accordingly and evaluated numerically in the ADAMS environment. Results of the numerical simulations are discussed to evaluate the dynamic performance of the proposed design solution and to investigate the feasibility of the proposed design in future applications for humanoid robots.In this paper, a mechanical transmission based on cable pulley is proposed for human-like actuation in the artificial ankle joints of human-scale. The anatomy articular characteristics of the human ankle is discussed for proper biomimetic inspiration in designing an accurate, efficient, and robust motion control of artificial ankle joint devices. The design procedure is presented through the inclusion of conceptual considerations and design details for an interactive solution of the transmission system. A mechanical design is elaborated for the ankle joint angular with pitch motion. A multi-body dynamic simulation model is elaborated accordingly and evaluated numerically in the ADAMS environment. Results of the numerical simulations are discussed to evaluate the dynamic performance of the proposed design solution and to investigate the feasibility of the proposed design in future applications for humanoid robots.

关 键 词：biomimetic designs ankle joints cable-pulleytransmissions multi-body dynamic simulation numericalcharacterization 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] U266[自动化与计算机技术—控制科学与工程]