Design and Analysis of a Bioinspired Foot Mechanism based on Tensegrity Structure
Traditional feet robots have shortcomings of mechanism flexibility insufficient in adaptive walking on complex terrain. A bio-tensegrity foot mechanism is proposed for promoting the performance of adaptive terrain and stable locking locomotion of the conventional foot robots on sloped terrain based...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2022-01-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.01.011 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850069587166494720 |
|---|---|
| author | Jianwei Sun Lü Jiale Jinrong Sun Guangsheng Song Xiaodong Li |
| author_facet | Jianwei Sun Lü Jiale Jinrong Sun Guangsheng Song Xiaodong Li |
| author_sort | Jianwei Sun |
| collection | DOAJ |
| description | Traditional feet robots have shortcomings of mechanism flexibility insufficient in adaptive walking on complex terrain. A bio-tensegrity foot mechanism is proposed for promoting the performance of adaptive terrain and stable locking locomotion of the conventional foot robots on sloped terrain based on the similarity between musculoskeletal systems and a tensegrity structure. The equivalent mapping model of a tensegrity structure is established by the matching of tension unit，the design of configuration of the mechanism achieved by the method of bionic design，a physical sample is made and an experimental platform is built. The results show that the proposed bionic foot mechanism has good flexibility and stability，the adaptive and stable walking ability of the traditional foot robot on slope terrain are improved. |
| format | Article |
| id | doaj-art-b7f0b268dc0343709032e8b4e69706cd |
| institution | DOAJ |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2022-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-b7f0b268dc0343709032e8b4e69706cd2025-08-20T02:47:45ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-01-0146879230473113Design and Analysis of a Bioinspired Foot Mechanism based on Tensegrity StructureJianwei SunLü JialeJinrong SunGuangsheng SongXiaodong LiTraditional feet robots have shortcomings of mechanism flexibility insufficient in adaptive walking on complex terrain. A bio-tensegrity foot mechanism is proposed for promoting the performance of adaptive terrain and stable locking locomotion of the conventional foot robots on sloped terrain based on the similarity between musculoskeletal systems and a tensegrity structure. The equivalent mapping model of a tensegrity structure is established by the matching of tension unit，the design of configuration of the mechanism achieved by the method of bionic design，a physical sample is made and an experimental platform is built. The results show that the proposed bionic foot mechanism has good flexibility and stability，the adaptive and stable walking ability of the traditional foot robot on slope terrain are improved.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.01.011Tensegrity structureBioinspired designAdaptive motionLocking mechanism |
| spellingShingle | Jianwei Sun Lü Jiale Jinrong Sun Guangsheng Song Xiaodong Li Design and Analysis of a Bioinspired Foot Mechanism based on Tensegrity Structure Jixie chuandong Tensegrity structure Bioinspired design Adaptive motion Locking mechanism |
| title | Design and Analysis of a Bioinspired Foot Mechanism based on Tensegrity Structure |
| title_full | Design and Analysis of a Bioinspired Foot Mechanism based on Tensegrity Structure |
| title_fullStr | Design and Analysis of a Bioinspired Foot Mechanism based on Tensegrity Structure |
| title_full_unstemmed | Design and Analysis of a Bioinspired Foot Mechanism based on Tensegrity Structure |
| title_short | Design and Analysis of a Bioinspired Foot Mechanism based on Tensegrity Structure |
| title_sort | design and analysis of a bioinspired foot mechanism based on tensegrity structure |
| topic | Tensegrity structure Bioinspired design Adaptive motion Locking mechanism |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.01.011 |
| work_keys_str_mv | AT jianweisun designandanalysisofabioinspiredfootmechanismbasedontensegritystructure AT lujiale designandanalysisofabioinspiredfootmechanismbasedontensegritystructure AT jinrongsun designandanalysisofabioinspiredfootmechanismbasedontensegritystructure AT guangshengsong designandanalysisofabioinspiredfootmechanismbasedontensegritystructure AT xiaodongli designandanalysisofabioinspiredfootmechanismbasedontensegritystructure |