The Design and Modeling of Multi-axis Knee Artificial Leg

摘要

To provide an ideal test-base for the development of an intelligent bionic leg, a new pattern humanoid robot - biped robot with heterogeneous legs (BRHL) was designed. To simulate a normal human gait, a multi-axis knee mechanism was included into the artificial leg design that was different from the artificial leg of a common biped robot. The conception and research purposed for the BRHL was developed. Based on human bioscience, the bionic design of multi-axis knee artificial leg was analyzed and a virtual prototype was made. The kinematics model and dynamics model were deduced in detail. Based on human normal gait data, a simulation of dynamics model was carried. An optimized mechanical design of multi-axis knee artificial leg is discussed and a simulation was done. The optimal mechanism parameters for the multi-axis knee artificial leg and a BRHL prototype were given. This research indicated that a multi-axis knee artificial leg can simulate a human leg.