The invention relates to a bionic knee joint mechanism based on a tensegrity structure which overcomes the defects that a traditional bionic knee joint mechanism is large in size, heavy in mass, poorin flexibility, complex in a control system and the like, and has the advantages of being flexible, stable, simple and convenient to manufacture in structure. According to the bionic knee joint mechanism based on the tensegrity structure, the tensegrity structure is combined with a four-rod mechanism, self-locking of the bionic knee joint mechanism can be achieved, self-locking can be achieved without control, and it can be guaranteed that a knee joint robot has the bionic characteristic and the mechanical characteristic at the same time. The bionic knee joint mechanism based on tensegrity structure is simple in structure, at the same time, the movement process of the mechanism simulates rolling and sliding between thighbone and tibia in the rotation process of a human knee joint, accordswith the biomechanical characteristics of the human knee joint, is expected to vigorously develop, and achieves the practical application value in multiple fields.
本发明涉及一种基于张拉整体结构的仿生膝关节机构,改变了传统仿生膝关节机构体积大、质量沉,柔度差,控制系统复杂等不足,本发明提供的基于张拉整体结构的仿生膝关节机构兼具灵活性、稳定性,结构制造简单便捷,且张拉整体结构与四杆机构相结合,能够实现仿生膝关节机构的自锁,不需要通过控制实现自锁,可以确保膝关节机器人同时具有仿生学特性和机构学特性,本发明提供的基于张拉整体结构的仿生膝关节机构结构简单,同时,机构的运动过程模拟人类膝关节转动过程中的股骨和胫骨之间滚动和滑动,符合人体膝关节的生物力学特性,有望大力发展,在多领域实现其实际应用价值。
Bionic knee joint mechanism based on tensegrity structure
一种基于张拉整体结构的仿生膝关节机构
2020-12-11
Patent
Electronic Resource
Chinese
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