Bionic Joint Mechanism Design Theory

This paper regards the crab_like machine as the research object, establishing the mathematical model of the joint mechanism of the crab_like. the paper firstly discusses the development of the biomimetical robot, biomimetical joint and the correlated fields. According to study and analyze the crab_like machine, this paper breaks the traditional joint model, making use of the three degree of freedom parallel mechanism, establishing the joint mechanism, and doing the kinematical and dynamical calculation for this machine. While doing for the kinematical calculating, this paper uses the kinematics' influence coefficient, and gets the kinematical equations. Then it proves the rationality using prototype technology for the singularity and the dynamitic emulating. After that this paper also does some analysis for the singularity and the space manipulability. Hydraulic motion is very important for this manipulator, we calculate it here, and then we design the motion system briefly. At last, we give the ways to control the manipulator, and design the hardware system for this manipulator. This paper imitates the crab_like joint and-finishes the related theories, we hope that the work we do could be helpful for the further study of the bionimetical mechanism.