Study on four-bar linkage bionic knee joint of bipedal robots

摘要

The joint of robot usually adopts two linked single axle joint that has a non-powerful bionic characteristics.Combining with the achievement of study on human-body joint of biologic medical science,a kind of four-bar link close-chained bionic joint was studied.A kind of multi-axle bionic knee joint mechanism composed of four-bar linkage mechanism and controlled by intellectual MR damper was presented,and the bionic characteristics of fourbar linked knee joint was analyzed by the contrast with the knee joint of human legs.By means of the designing method of multi-variable optimization to solve the parameters of knee joint mechanism and of installation position of dumper,and the virtual prototype of bionic knee joint was established.The simulation was carried out,and the result showed that the four-bar link joint has good bionic characteristics.