Design and Kinematics of a Cable-Driven Humanoid Ankle Joint

Lu Min Chen; Zhi Zhong Zhu; Qi Lin; Xin Jie Wang

doi:10.4028/www.scientific.net/AMM.541-542.846

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 541-542Design and Kinematics of a Cable-Driven Humanoid...

Design and Kinematics of a Cable-Driven Humanoid Ankle Joint

Abstract:

A 2DOF ankle joint mechanism with cross rotation axis was designed to imitate the human ankle joint structure. The kinematic model of the ankle joint mechanism was established by D-H method. The synergistic influences of the angle of ankle joint and subtalar joint on the foot motion of inversion/eversion, adduction/abduction, dorsiflexion/plantar flexion were analyzed by kinematics simulation. The simulation results show that the designed ankle joint has similar motion range and function to that of human ankle. This study provides a theoretical basis for the development of high performance ankle joint for humanoid robots.

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Periodical:

Applied Mechanics and Materials (Volumes 541-542)

Pages:

846-851

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.541-542.846

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Online since:

March 2014

Authors:

Lu Min Chen*, Zhi Zhong Zhu, Qi Lin, Xin Jie Wang

Keywords:

Ankle Joint Complex, Humanoid Robot, Kinematics, Mechanism Design

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* - Corresponding Author

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