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

被引：0

作者：

Huaxin LIU ^{[1
,2
]}

Marco CECCARELLI ^{[3
]}

Qiang HUANG ^{[1
,2
,4
,5
]}

机构：

[1] Intelligent Robotics Institute,School of Mechatronical Engineering,Beijing Institute of Technology

[2] Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology),Ministry of Education

[3] Laboratory of Robotics and Mechatronics(LARM),DICeM,University of Cassino and South Latium

[4] Beijing Innovation Center for Intelligent Robots and Systems

[5] State Key Laboratory of Intelligent Control and Decision of Complex

来源：

Frontiers of Mechanical Engineering. | 2016年 / 11卷 / 02期

关键词：

D O I：

暂无

中图分类号：

学科分类号：

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.

引用

页数：14

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