The invention discloses a human-simulated ankle joint device with three degrees of freedom. The human-simulated ankle joint device comprises a thigh part, a crus part and an ankle part; the thigh part and the crus part are connected through a knee joint shaft; the crus part and the ankle part are connected through an ankle joint shaft; driving motors and the knee joint shaft are arranged on the thigh part; the ankle part comprises a mounting casing; the ankle joint shaft and a subtalar joint shaft which are distributed in a crossed manner are mounted on the mounting casing; two groups of slideable ropes are arranged between the driving motor and the knee joint shaft, and other two groups of slideable ropes are arranged between the knee joint shaft and the ankle joint shaft. According to the device, the non-spherical space three-degree-of-freedom joints are adopted, so that the bearing capacity of the ankle part joint is improved; through the rope driving, the system buffering and shock absorption properties and the overload protection capability are improved; in the ankle part joint, the external rotation freedom degree is moved upwards, so that the size and the weight of the ankle part can be reduced under the condition that the same action effect is achieved; the mounting casing replaces a manner that frequently-used two joint shafts are directly connected through a hooke joint, so that the structural bearing capacity and reliability are improved further.
Human-simulated ankle joint device with three degrees of freedom
2015-09-30
Patent
Elektronische Ressource
Englisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |