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Erschienen in:
2018 | OriginalPaper | Buchkapitel
Biomimetic Knee Design to Improve Joint Torque and Life for Bipedal Robotics
verfasst von : Alexander G. Steele, Alexander Hunt, Appolinaire C. Etoundi
Erschienen in: Towards Autonomous Robotic Systems
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Abstract
This paper details the design, construction, and performance analysis of a biologically inspired knee joint for use in bipedal robotics. The design copies the condylar surfaces of the distal end of the femur and utilizes the same crossed four-bar linkage design the human knee uses. The joint includes a changing center of rotation, a screw-home mechanism, and patella; these are characteristics of the knee that are desirable to copy for bipedal robotics. The design was calculated to have an average sliding to rolling ratio of 0.079, a maximum moment arm of 2.7 in and a range of motion of 151°. This should reduce wear and perform similar to the human knee. Prototypes of the joint have been created to test these predicted properties.