Design of a pneumatic variable stiffness ankle joint

被引：0
|
作者：
Zang, Xizhe [1 ]
Song, Jiaqi [1 ]
Liu, Yixiang [1 ]
Zhou, Xinyu [1 ]
机构：
[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150080, Heilongjiang, Peoples R China
来源：
2018 IEEE INTERNATIONAL CONFERENCE ON INTELLIGENCE AND SAFETY FOR ROBOTICS (ISR) | 2018年
基金：
中国国家自然科学基金;
关键词：
ROBOTS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The foot-ground impact is a vital problem for biped robots walking stability. Various works have been done to reduce the impact and enhance the walking stability. This paper investigates the foot-ground impact using mathematic models and introduces the design of a pneumatic variable stiffness ankle joint. First, the torque and energy consumption of the ankle joint during double support phase are derived from a seven-link idealized model. Then, in order to find the optimal range of ankle stiffness, dynamic simulations are conducted on two virtual prototypes with variable stiffness ankle and rigid ankle respectively. After that, a pneumatic unit is designed based on the simulation results and a test is performed to measure its range of stiffness. Finally, combining the pneumatic unit with a parallelogram mechanism, an integrated variable stiffness ankle joint is developed.
引用
收藏
页码：291 / 296
页数：6
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