| This Subject was funded by the national natural science foundation of China. Based on Energy Optimization of the Exoskeleton Controllable Stiffness Series Elastic Actuator Research (51275170). The ministry of education national defense scientific research funding scheme for special fund (20108824) and the ministry of education doctoral program fund (20100074110005). In this paper finished the powered ankle mechanism design, optimization and simulation research work.Human powered robot and rehabilitation robot is one important field of robot technology applications, using the auxiliary support way to strengthen people’s natural physical or improve disabled individual’s body function, so that the users can better adapt to the natural environment. This subject introduce a powered ankle mechanism device can provide extra power for the user.Human ankle is a very flexible joint, how to improve an ankle mechanism’s bionic performance, more realistically achieve human ankle’s actions and abilities is a significant and challenging event.Based on the human walking gait cycle, ankle’s biological mechanism is studied and analyzed, and explored human ankle’s movement characteristics and inherent biological characteristics during walking.In this subject established hydraulic-drived and motor-drived series elastic actuators plans.Using Solidworks established two actuators’3D models and analyzed their working mechanism. Based on the series elastic actuators, human powered ankle structure model and transfer function model was build, and did rigid/soft body dynamics simulation in ADAMS/View. Using the finite element analysis method did calculation for some key bearing parts, optimized the overall performance. Based on the MATLAB/Simulink system control scheme are discussed.Through the human ankle3D structure model simulation optimization, effectively improved the bionic characteristics and the dynamic performance of the ankle foot mechanism. Providing technical basis for developing an ankle foot mechanism prototype with human bionic characteristics in the subsequent research and development. |
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