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首页> 外文会议>Annual conference on towards autonomous robotic systems >Biomimetic Knee Design to Improve Joint Torque and Life for Bipedal Robotics
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Biomimetic Knee Design to Improve Joint Torque and Life for Bipedal Robotics

机译：仿生膝盖设计可改善双足机器人的关节扭矩和寿命

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This paper details the design, construction, and performance analysis of a biologically inspired knee joint for use in bipedal robotics. The design copies the condylar surfaces of the distal end of the femur and utilizes the same crossed four-bar linkage design the human knee uses. The joint includes a changing center of rotation, a screw-home mechanism, and patella; these are characteristics of the knee that are desirable to copy for bipedal robotics. The design was calculated to have an average sliding to rolling ratio of 0.079, a maximum moment arm of 2.7 in and a range of motion of 151°. This should reduce wear and perform similar to the human knee. Prototypes of the joint have been created to test these predicted properties.
机译：本文详细介绍了用于双足机器人的受生物学启发的膝关节的设计，构造和性能分析。该设计复制了股骨远端的con突表面，并采用了与人类膝盖相同的交叉四连杆设计。关节包括一个不断变化的旋转中心，一个螺丝固定机构和骨。这些是双足机器人需要复制的膝盖特征。计算得出该设计的平均滑动滚动率为0.079，最大力矩臂为2.7 in，运动范围为151°。这样可以减少磨损，并且表现出与人的膝盖相似的效果。已经创建了关节原型来测试这些预测的特性。

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