Design and Kinematics of a Cable-driven Humanoid Ankle Joint

被引：0

作者：

Chen, Lumin ^{[1
]}

Zhu, Zhizhong ^{[1
]}

Lin, Qi ^{[1
]}

Wang, Xinjie ^{[1
]}

机构：

[1] Zhengzhou Univ Light Ind, Zhengzhou 450002, Peoples R China

来源：

ENGINEERING AND MANUFACTURING TECHNOLOGIES | 2014年 / 541-542卷

关键词：

Humanoid robot; Ankle joint complex; Mechanism design; Kinematics;

D O I：

10.4028/www.scientific.net/AMM.541-542.846

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A 2DOF ankle joint mechanism with cross rotation axis was designed to imitate the human ankle joint structure. The kinematic model of the ankle joint mechanism was established by D-H method. The synergistic influences of the angle of ankle joint and subtalar joint on the foot motion of inversion/eversion, adduction/abduction, dorsiflexion/plantar flexion were analyzed by kinematics simulation. The simulation results show that the designed ankle joint has similar motion range and function to that of human ankle. This study provides a theoretical basis for the development of high performance ankle joint for humanoid robots.

引用

页码：846 / 851

页数：6

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