| Joint mechanism is widely used in the field of artificial limbs and bionic robots manufacture. And it is of vital significance that investigating the novel joint mechanism with bionic method. The structural design and analysis for joint mechanism is studied based on the knee joint of human. The main research work in this paper is as follow:Firstly, because of the deficiencies of the traditional joint mechanism at the aspects of structure and drive mode, a novel joint mechanism, which takes the knee joint of human as the bionic model, is presented. And the structure, function and drive mechanism for the knee joint of human are analyzed, which has laid the foundation for the design of joint mechanism.Secondly, combining the research on the structure and drive mechanism for the knee joint of human, the joint mechanism concerned is preliminarily designed on the basis of widely referring to the researching literatures.Thirdly, 3-D model for the joint mechanism is established and assembled with the software UG The components and key sections of the joint mechanism are pointed out. The degree of freedom, interference and motion range of the joint mechanism are also analyzed. The finite element model of the joint mechanism is constructed and the strength analysis of the joint is carried out with the software ANSYS.Fourthly, the numerical model for the lower limbs of human is established with software Life Mod. The dynamic analysis of the knee joint of human is implemented with software ADAMS 2005, which takes the pneumatic artificial muscle of antagonism as the drive of this joint. The results show that the simulated joint is with elementary function of knee joint of human.The theoretic basis and reference data for designing novel joint mechanism are provide by the investigating drive mechanism of the knee joint of human, structural design and analysis of joint mechanism. These results are also likely to be applied to the fields of bionic devices, maintenance robot and astronautic equipment. |
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