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典型文献

Dynamic Modeling and Performance Evaluation of a Novel Humanoid Ankle Joint

文献摘要：

Aimed at the problems of design difficulty and weak kinematic performance caused by spherical joint,a novel PRC+PRCR+RR humanoid ankle joint based on the partially decoupled spherical parallel mechanism is proposed.According to screw theory,the degree of freedom and decoupling characteristics of this mechanism are analyzed.Based on Klein formula and virtual work principle,the kinematic expressions of each link and dynamic model are established.The correctness of the dynamic model is verified by combining the virtual prototype software and the ankle pose function obtained by gait planning and Fourier fitting.The workspace of this mechanism is mapped into a two-dimensional polar coordinate system with the azimuth and elevation angles of the spherical coordinate system as parameters.The motion/force transmission index and constraint index of this mechanism are evaluated and expressed in the workspace,showing this mechanism with excellent kinematic characteristics.

文献关键词：

中图分类号：

[1] 医药、卫生（R） / 基础医学（R3） / 病理学（R36） / 病理过程（R364）

[2] 医药、卫生（R） / 药学（R9） / 药理学（R96） / 实验药理学（R965）

[3] 数理科学和化学（O） / 力学（O3） / 振动理论（O32） / 非线性振动（O322）

作者姓名：

LI Yanbiao;CHEN Ke;SUN Peng;WANG Zesheng

作者机构：

College of Mechanical Engineering,Zhejiang University of Technology,Hangzhou 310032,China

文献出处：

上海交通大学学报（英文版）

引用格式：

[1]LI Yanbiao;CHEN Ke;SUN Peng;WANG Zesheng-.Dynamic Modeling and Performance Evaluation of a Novel Humanoid Ankle Joint)[J].上海交通大学学报（英文版）,2022(04):570-578

A类：

Humanoid,PRC+PRCR+RR

B类：

Dynamic,Modeling,Performance,Evaluation,Novel,Ankle,Joint,Aimed,problems,design,difficulty,weak,kinematic,performance,caused,by,spherical,joint,novel,humanoid,ankle,partially,decoupled,parallel,mechanism,proposed,According,screw,theory,degree,freedom,decoupling,characteristics,this,analyzed,Based,Klein,formula,virtual,principle,expressions,each,link,dynamic,model,established,correctness,verified,combining,prototype,software,function,obtained,gait,planning,Fourier,fitting,workspace,mapped,into,two,dimensional,polar,coordinate,system,azimuth,elevation,angles,parameters,motion,force,transmission,constraint,evaluated,expressed,showing,excellent

AB值：

0.60961

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