Static Decoupling Performance Analysis and Design of Bionic Elbow Joint

作     者：Cui, Bingyan Chen, Liwen Xie, Yongtao Hu, Yuda 

作者机构：Yanshan Univ Qinhuangdao 066009 Peoples R China North China Univ Sci & Technol Tangshan 063009 Peoples R China Widex Sanit Co Ltd Tangshan 063000 Peoples R China 

出 版 物：《JOURNAL OF BIOMIMETICS BIOMATERIALS AND BIOMEDICAL ENGINEERING》 (J. Biomimetics Biomat. Biomed. Eng.)

年 卷 期：2018年第36卷

页      面：34-44页

核心收录：

基　　金：National natural science of Fund [E51505124] Hebei natural science of Fund [E2017209252] Hebei Province Department of Education Research Fund [QN2015203, 2015GJJG084] Ministry of Education Online Education Research Center Online Education Research Fund [2016YB117] 

主　　题：structural parameter optimization static decoupling performance bionic elbow joint the space model theory 2-DOF 

摘      要：The static decoupling performance is closely related to the efficiency of the bionic elbow joint mechanism. The bionic elbow joint has good static decoupling and has high efficiency and carrying capacity. First, the movement structure and characteristics of the elbow joint are analyzed, a kind of bionic elbow joint is proposed, the position inverse solution is deduced, and force Jacobin matrix of the bionic elbow joint is obtained. Second, the static coupling performance evaluation index and the global static coupling performance index are established, the performance atlas are drawn. Thirdly, by use of the Monte Carlo method the structural parameters of the bionic elbow joint are optimized and selected based on the spatial model theory, and a novel the bionic elbow joint is designed based on parameters optimization, and the static decoupling is verified by the simulation experiment of the bionic elbow joint. The analysis results shows the static decoupling performance of the bionic elbow joint is symmetrical, and with the working space of the attitude output angle e. increases, the static decoupling decreases gradually. Structural parameters R-e1 and R-e3 have great influence on the global static decoupling performance. The structural parameters of R-e1 is 90mm, R-e2 is 70mm, and R-e3 is 30mm, the bionic elbow joint has good static decoupling. This paper lays a foundation for further analysis and research of the bionic elbow joint.