Bionic knee joint mechanism based on tensegrity structure

A technology of tensioning the overall structure and knee joints, which is applied in the field of bionic engineering, can solve problems such as large volume, heavy weight, and poor flexibility, and achieve the effect of simple and convenient structure manufacturing, simple structure, and flexibility
CN112060057AActive Publication Date: 2020-12-11CHANGCHUN UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
CHANGCHUN UNIV OF TECH
Publication Date
2020-12-11

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Abstract

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.
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Description

technical field

[0001] The invention relates to the technical field of bionic engineering, and can be applied to fields such as robots and wearables. More specifically, it relates to a bionic knee joint mechanism based on a tensegrity structure. Background technique

[0002] The bionic knee-joint robot has the characteristics of high motion flexibility and strong adaptability, and can realize stable and adaptive walking in an unstructured environment during the motion process. Compared with traditional industrial robots and wheeled robots, bionic knee-joint robots face different environmental conditions, such as field complex environment detection, obstacle avoidance, military assistance, etc., and can adjust their own morphological structure or joint angle to improve the interaction with non-structural The interactivity of the environment.

[0003] However, the existing bionic knee joint mechanism can only realize the motion function of the human knee joint, and lacks deta...

Claims

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