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Mechanism Simulation and Optimal Design of Five-Link Bionic Joint Driven by Two Antagonistic Pneumatic Muscles
Joint Authors
Jin, Yinglian
Cheng, Miao
Yan, Tianhong
Wang, Binrui
Source
Advances in Mechanical Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-11-14
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
The five-link parallel mechanism is proposed to improve joint bionic performance, and the kinematics is established for the closed chain joint actuated by two antagonistic artificial pneumatic muscles (PMs).
Interference and singularity constraints are analyzed, and the joint torque model is given based on the spring-damp dynamics.
Through extracting the spring force term from torque equations, the compliance of bionic joint is derived and expressed as the ratio of angle to spring torque.
Energy consumption is analyzed using the PM length varying.
Based on MATLAB/SimMechanics, the relationships between the axil installation parameters and swing performances are illustrated through the simulations, including the effect of the installation height and width varying on the angle scope, swing response, compliance, and energy consumption.
The bionic shoulder and elbow joints are optimally designed.
Compared to the conventional joints, the swing angular range of the proposed joints is enhanced, and the contraction amount of PMs is reduced.
The optimal mechanism is more humanoid.
American Psychological Association (APA)
Wang, Binrui& Jin, Yinglian& Yan, Tianhong& Cheng, Miao. 2013. Mechanism Simulation and Optimal Design of Five-Link Bionic Joint Driven by Two Antagonistic Pneumatic Muscles. Advances in Mechanical Engineering،Vol. 2013, no. 2013, pp.1-11.
https://search.emarefa.net/detail/BIM-501024
Modern Language Association (MLA)
Wang, Binrui…[et al.]. Mechanism Simulation and Optimal Design of Five-Link Bionic Joint Driven by Two Antagonistic Pneumatic Muscles. Advances in Mechanical Engineering No. 2013 (2013), pp.1-11.
https://search.emarefa.net/detail/BIM-501024
American Medical Association (AMA)
Wang, Binrui& Jin, Yinglian& Yan, Tianhong& Cheng, Miao. Mechanism Simulation and Optimal Design of Five-Link Bionic Joint Driven by Two Antagonistic Pneumatic Muscles. Advances in Mechanical Engineering. 2013. Vol. 2013, no. 2013, pp.1-11.
https://search.emarefa.net/detail/BIM-501024
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-501024