2016年 第11卷 第2期
《机械工程前沿（英文）》 >> 2016年 第11卷 第2期 doi: 10.1007/s11465-016-0383-0
Design and simulation of a cable-pulley-based transmission for artificial ankle joints
1. Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China; Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China.
2. Laboratory of Robotics and Mechatronics (LARM), DICeM, University of Cassino and South Latium, Cassino 03043, Italy.
3. Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China; Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China; Beijing Innovation Center for Intelligent Robots and Systems, Beijing 100081, China; State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing 100081, China
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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.
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