A bionic knee joint mechanism based on tensegrity structure

A technology for tensioning the overall structure and knee joint, applied in the field of bionic engineering, can solve the problems of large volume, heavy weight, poor flexibility, etc., and achieve the effect of simple and convenient structure manufacturing, simple structure, and flexibility.
CN112060057BActive Publication Date: 2021-09-17CHANGCHUN UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
CHANGCHUN UNIV OF TECH
Publication Date
2021-09-17

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Abstract

The invention relates to a bionic knee joint mechanism based on a tensioned overall structure, which overcomes the shortcomings of the traditional bionic knee joint mechanism such as large volume, heavy mass, poor flexibility, and complicated control system. The bionic knee joint mechanism based on a tensioned overall structure provided by the invention The knee joint mechanism has both flexibility and stability, and the structure is simple and convenient to manufacture. The combination of the tensegrity structure and the four-bar mechanism can realize the self-locking of the bionic knee joint mechanism, and it does not need to be controlled to achieve self-locking, which can ensure the stability of the knee joint. The robot has bionic characteristics and mechanism characteristics at the same time. The bionic knee joint mechanism based on the tensegrity structure provided by the present invention has a simple structure. At the same time, the movement process of the mechanism simulates the rolling and sliding between the femur and the tibia during the rotation of the human knee joint. , in line with the biomechanical properties of the human knee joint, is expected to vigorously develop and realize its practical application value in many 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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