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An Adaptive Bioinspired Foot Mechanism Based on Tensegrity Structures.
Sun, Jianwei; Song, Guangsheng; Chu, Jinkui; Ren, Luquan.
Afiliación
  • Sun J; School of Mechanical Engineering, Changchun University of Technology, Changchun City, China.
  • Song G; Key Laboratory of Bionic Engineering, Jilin University, Changchun City, China.
  • Chu J; School of Mechanical Engineering, Changchun University of Technology, Changchun City, China.
  • Ren L; School of Mechanical Engineering, Dalian University of Technology, Dalian City, China.
Soft Robot ; 6(6): 778-789, 2019 12.
Article en En | MEDLINE | ID: mdl-31414964
Traditional robotic feet have received considerable attention for adaptive locomotion on complex terrain. As an alternative, tensegrity structures have the essential characteristics of deformability, adaptability to the environment, and impact resistance. This article proposes ways to solve the problem of adaptive locomotion on complex terrain based on a tensegrity structure and shows that this approach is particularly useful. On the basis of the locomotion mechanism and morphological structure of the human foot, a structural mapping model of a tetrahedral mast tensegrity structure is established through bionic mapping. A model of an adaptive foot mechanism is established through bioinspired design. Theoretical calculations of the behavior of the mechanism are derived, and the spring stiffnesses are matched. A theoretical method based on mechanical kinematics is presented, and a kinematic solution is realized through inverse kinematics. In addition, the locomotion of the mechanism, which is similar to that of the human foot, is simulated using ADAMS, and the effectiveness of the proposed theory and design method is verified by comparing the simulation output with the theoretically calculated results. Finally, a physical prototype manufactured using three-dimensional printing technology is used to experimentally verify the functional characteristics of the terrain-adaptive locomotion of the proposed mechanism. The results show that the proposed adaptive bioinspired foot mechanism exhibits good stability in an unstructured environment and can mimic the adaptive locomotion characteristics of the human foot on complex terrain remarkably well.
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Tipo de estudio: Prognostic_studies Idioma: En Revista: Soft Robot Año: 2019 Tipo del documento: Article País de afiliación: China Pais de publicación: Estados Unidos
Texto completo
Añadir a Mi BVS
Imprimir
XML
PubMed Links
Buscar en Google

Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Tipo de estudio: Prognostic_studies Idioma: En Revista: Soft Robot Año: 2019 Tipo del documento: Article País de afiliación: China Pais de publicación: Estados Unidos