Statics Analysis and Design of the 6-DOF Lower Limb Bionic Leg

Abstract:

In order to improve ability of walking and crossing the barriers , increase the carrying capacity, and enhance its popularity and adaptability, a novel lower limb bionic leg is presented based on 3-UPS parallel mechanism, which has the characteristics of movement flexible and strong adaptability. It is very important analysis to statics of lower limb bionic leg. Firstly, statics equation of the lower limb bionic leg of driving force and output force is established based on virtual work principle. Secondly, static performance evaluation index is defined and the evaluation index distribution map is drawn. The relationship between the structure parameters and the static performance evaluation indexes is analyzed, obtained the influence of structure parameters on the static performance evaluation index, and a set of reasonable structural parameters is selected. The circum-radius of moving platform is 50mm, the circum-radius of the static platform is 150mm, the moving platform angle and static platform angle are equal to 60°, the lower limb bionic leg has the best load carrying capacity. Thirdly, the lower limb bionic leg is designed based on statics analysis and structure parameters optimization. Analysis results show that the lower limb bionic leg has good static transmission performance at the initial position, and the static transmission performance decreases with increasing turning workspace. The static transmission performance decreases with z axle displacement increasing. The analysis results laid a foundation for further analysis and research of the lower limb bionic leg.

• Periodical: Journal of Biomimetics, Biomaterials and Biomedical Engineering (Volume 26)
• Pages: 1-12
• DOI: https://doi.org/10.4028/www.scientific.net/JBBBE.26.1
• Online since: February 2016
• Authors: Li Wen Chen, Bing Yan Cui*, Zhi Jun Wang, Ling Chao Meng, Zhan Xian Li
• Keywords: Lower Limb Bionic Robot, Parallel Mechanism, Statics Analysis, Structure Parameter Design

References

[1] Y. X. LU. The significance and development of bionics. Scientific Chinese, 2004, 4: 22-24.

[2] Q. S. LUO, B.L. HAN, X. C. ZHAO, et al. Modern biomimetic robots design. Publishing House of Electronics Industry, Beijing, (2008).

[3] R. SIDDALL, M. KOVAC. Launching the Aqua MAV: bioinspired design for aerial-aquatic robotic platforms. Bioinspiration & Biomimetics, 2014, 9(3): 1-15.

DOI: 10.1088/1748-3182/9/3/031001

[4] B. ESPIAU, P. SARDAIN. The anthropomorphic biped robot BIP2000. International Conference on Robotics and Automation, 2000, pp.3396-4001.

DOI: 10.1109/robot.2000.845354

[5] H.Y. XU, Y.L. FU, S.G. WANG, et al. Research on biomimetic robotics. Robot, 2004, 26(3) : 283-288.

[6] G. WANG, Q. HUANG, J.H. GENG, et al. Cooperation of dynamic patterns and sensory reflex for humanoid walking. International Conference on Robotics and Automation, 2003, pp.2472-2477.

DOI: 10.1109/robot.2003.1241964

[7] Boston Dynamics. CHEETAH - fastest legged robot[EB/OL].

[2013] http : /www. bostondynamics. com/robot_cheetah. html.

[8] X.B. CHEN, F. GAO, C.K. QI, et al. Gait planning for a quadruped robot with one faulty actuator. Chinese Journal of Mechanical Engineering, 2015 , 28(1) : 11-19.

DOI: 10.3901/cjme.2014.1107.167

[9] M. FUJITA, Y. KUROKI, T. ISHIDA , et al. A small humanoid robot SDR-4X for entertainment applications. International Conference on Advanced Intelligent Mechatronics , 2003, pp.938-943.

DOI: 10.1109/aim.2003.1225468

[10] P. Sardain, G. Bessonnet. Gait analysis of a human walker wearing robot feet as shoes. Robotics and Automation, 3, (2001) 2285-2292.

DOI: 10.1109/robot.2001.932963

[11] M. RAIBERT, K. BLANKESPOOR, G. NELSON, et al. Bigdog, the rough-terrain quadruped robot. Proceedings of The International Federation of Automatic Control, 2008, pp.10822-10825.

DOI: 10.3182/20080706-5-kr-1001.01833

[12] B.Y. CUI, L.W. CHEN. Analysis of Kinematics and Design of Structure Parameters for A Bionic Parallel Leg. Journal of Biomimetics Biomaterials and Biomedical Engineering , 20(2014)23-33.

DOI: 10.4028/www.scientific.net/jbbbe.20.23

[13] Hirose M, Ogawa K. Honda humanoid robots development. Philosophical Transactions of the Royal Society of London A: Mathematical, Physical and Engineering Sciences, 2007 , 365(1850) : 11-19.

DOI: 10.1098/rsta.2006.1917

[14] Y. SHU, D. SUN, Q. L. HU, et al. Lower Limb Kinetics and Kinematics during Two Different Jumping Methods. Journal of Biomimetics, Biomaterials and Biomedical Engineering, 2015, 22: 29-35.

DOI: 10.4028/www.scientific.net/jbbbe.22.29

[15] P.S. MA, W.H. ZHENG. The fuzzy-neural network control for quadruped walking robot. Robot, 1997, 19(1): 56-60.

[16] H.P. SHEN, X.M. MA, Q.M. MENG, et al. Research Progress on Bionic Robots and Research Issues of Bionic Mechanism. Journal of Changzhou University, 2015, 27(1): 1-10.

[17] Y.B. LI, B. LI, X.W. RONG, et al. Mechanical design and gait planning of a hydraulically actuated quadruped bionic robot. Journal of Shandong University, 2011, 41(5): 32-36.

[18] Z.Y. Xia, Z. Xia, L. Liu, et al. Design aspects and development of humanoid robot THBIP-2. Robotica, 2008 , 26(01) : 109-116.

DOI: 10.1017/s0263574707003645

[19] H.B. WANG, Z.Y. QI, Z.W. HU, et al. Application of parallel leg mechanisms in quadruped/ biped reconfigurable walking robot. Chinese Journal of Mechanical Engineering, 2009, 45(8) : 24-32.

DOI: 10.3901/jme.2009.08.024

[20] R. F. Boian, M. Bouzit, G. C. Burdea, et al. Dual Stewart platform mobility simulator．Proceeding of the 2005 IEEE9th International Conference on Bionic robotics, 2005, pp.550-555.

DOI: 10.1109/icorr.2005.1502023

[21] Y. LU, Y. SHI, B. HU. Kinematic analysis of two novel 3UPU I and 3UPU II PKMs. Robotics and Autonomous Systems, 2008 56(4): 296-305.

DOI: 10.1016/j.robot.2007.09.005

[22] H.B. WANG, X. YANG, Xi.Q. ZHENG, et al. Design and Analysis for Minimally Invasive Vascular International Surgical Robot System. Advanced Science Letters, 2012, 8: 31-36.