| Active biped walking robot are mostly energy-intensive,low efficiency,unnatural gait,complex control system and other issues,especially advanced humanoid robots need a lot of energy,increased with the battery storage energy difficulties,seriously restricting its application and development prospect.Humans is a senior animal walking upright,dexterous athletic institutions and smart movement patterns to become experts in the bipedal walking,in a variety of complex environments to achieve a stable,efficient and natural walking.In the aspect of walking,compared with human beings,active robots have the characteristics of low energy consumption,stable walking,gait nature and so on,which provides a natural biological model for the development of new biped walking machine.Passive walking robots have some advantages in both gait natural and energy consumption than active walking robots,but there is still a big gap between gait and energy efficiency compared to human beings themselves.In order to fully learn from the nature of mankind in the exercise of the dynamic characteristics,this article chooses the human body lower limb as a bionic prototype.A bionic study of completely passive bipedal bionic walking machine with similar characteristics of human body's lower limb mass distribution is provided,which provides an important technical reference for the development of new energy-saving bipedal walking machine.This paper used the kinematic data acquisition device to record the changes of the joint angle of the knee and ankle joint of the human lower limb during normal walking.It is found that the ankle joint Angle changes in the range of 74.14 to 122.96 degrees and the knee joint Angle changes in the range of 115.54 to 179.53 degrees in a complete gait cycle.Based on the data of "virtual human" in the United States,three-dimensional solid model of human lower limb bone-muscle system was established by Amira software.Combined with anatomy,the bone-muscle model was divided into thighs,calves,feet three links.Based on Solidworks software,the bones and muscles of each link were given the corresponding density,the quality of all tissues were calculated,and extracted the quality of each link,centroid coordinates,inertia spindle,overall length and other related data.Based on the extracted data,the functional bionic hip,knee,ankle,thigh,calf and foot were designed.Considering the functional characteristics of muscle in motion,this paper choose to add flexible element-springs in the knee joint and ankle joint of the prototype,respectively.ProJet 5500 X multi material 3D printer was used to print the components with relatively complex structural features,such as hip joint,knee joint,ankle joint and so on.The material is acrylonitrile-butadiene-styrene copolymer(ABS)resin.Based on the developed passive bipedal leg with mass distribution,this paper tested the walking distance and velocity of a completely passive bionic walking machine under the three factors of legs length,the mass ratio of between thigh and calf and legs spacing.The results showed that the significant factors affecting the walking distance and speed of the bionic walking machine were legs spacing.The optimal combination of orthogonal test was legs distance 140 mm,quality ratio 3.27,leg length 280 mm.The maximum stride and speed of the bionic walking machine were in the last step,which lasted 0.60 s,and stride and speed were respectively 268.00 mm and 446.67mm/s.In this paper,the quality distribution of the lower limbs of the human body is taken as the entry point of the bionic design,and a completely passive bionic walking machine with mass distribution is developed.The conclusion is a new idea for the development and design of new biped robot,which has important reference value. |
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