Design of a rigid mechanism for a knee joint with continuously variable reduction ratio

摘要

The knee joint with adequate torque is necessary in order to achieve natural, fast and versatile motions. However, the margin of torque for a knee joint occurs because of a reducer with constant reduction ratio. Therefore, a new rigid mechanism for a knee joint with continuously variable reduction ratio is proposed in this paper. Firstly, the requirements of a new mechanism should be met to reduce the margin of torque. And the requirements were got based on motion simulation of BHR-5. Then, the new mechanism is developed and the parameters of link length and the angle between links for the new mechanism is determined. Finally, the motion simulation of BHR-5 based on the new mechanism is conducted to verify the effectiveness and feasibility of the new rigid mechanism.