Bionics Design of Artificial Leg and Experimental Modeling Research of Pneumatic Artificial Muscles
In the research and development of intelligent prosthesis, some of performance test experiments are required. In order to provide an ideal experimental platform for the performance test of intelligent prosthesis, a heterogeneous biped walking robot model is proposed. Artificial leg is an important p...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2020-01-01
|
| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2020/3481056 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832550860492636160 |
|---|---|
| author | Hualong Xie Zhijie Li Fei Li |
| author_facet | Hualong Xie Zhijie Li Fei Li |
| author_sort | Hualong Xie |
| collection | DOAJ |
| description | In the research and development of intelligent prosthesis, some of performance test experiments are required. In order to provide an ideal experimental platform for the performance test of intelligent prosthesis, a heterogeneous biped walking robot model is proposed. Artificial leg is an important part of heterogeneous biped walking robot, and its main function is to simulate the disabled a healthy normal gait, which provides intelligent bionic legs gait to follow the target trajectory. The pneumatic artificial muscles (PAM) have good application in the artificial leg. The bionic design of artificial leg mainly includes the structure of hip joint, knee joint, and ankle joint, adopting the four-bar mechanism as the mechanical structure of the knee joint, and PAM are used as the driving source of the knee joint. Secondly, the PAM performance test platform is built to establish the relationship among output force, shrinkage rate, and input pressure under the measured isobaric conditions, and the mathematical model of PAM is established. Finally, the virtual prototype technology is used to build a joint simulation platform, and PID control algorithm is used for verification simulation. The results show that the artificial leg can follow the target trajectory. |
| format | Article |
| id | doaj-art-bf633b1c7a334beb9f726172e54809a1 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-bf633b1c7a334beb9f726172e54809a12025-02-03T06:05:38ZengWileyJournal of Robotics1687-96001687-96192020-01-01202010.1155/2020/34810563481056Bionics Design of Artificial Leg and Experimental Modeling Research of Pneumatic Artificial MusclesHualong Xie0Zhijie Li1Fei Li2Institute of Advanced Manufacturing and Automation, School of Mechanical Engineering and Automation, Northeastern University, Shenyang, ChinaInstitute of Advanced Manufacturing and Automation, School of Mechanical Engineering and Automation, Northeastern University, Shenyang, ChinaSchool of Information Science & Engineering, Shenyang University of Technology Shenyang, Shenyang, ChinaIn the research and development of intelligent prosthesis, some of performance test experiments are required. In order to provide an ideal experimental platform for the performance test of intelligent prosthesis, a heterogeneous biped walking robot model is proposed. Artificial leg is an important part of heterogeneous biped walking robot, and its main function is to simulate the disabled a healthy normal gait, which provides intelligent bionic legs gait to follow the target trajectory. The pneumatic artificial muscles (PAM) have good application in the artificial leg. The bionic design of artificial leg mainly includes the structure of hip joint, knee joint, and ankle joint, adopting the four-bar mechanism as the mechanical structure of the knee joint, and PAM are used as the driving source of the knee joint. Secondly, the PAM performance test platform is built to establish the relationship among output force, shrinkage rate, and input pressure under the measured isobaric conditions, and the mathematical model of PAM is established. Finally, the virtual prototype technology is used to build a joint simulation platform, and PID control algorithm is used for verification simulation. The results show that the artificial leg can follow the target trajectory.http://dx.doi.org/10.1155/2020/3481056 |
| spellingShingle | Hualong Xie Zhijie Li Fei Li Bionics Design of Artificial Leg and Experimental Modeling Research of Pneumatic Artificial Muscles Journal of Robotics |
| title | Bionics Design of Artificial Leg and Experimental Modeling Research of Pneumatic Artificial Muscles |
| title_full | Bionics Design of Artificial Leg and Experimental Modeling Research of Pneumatic Artificial Muscles |
| title_fullStr | Bionics Design of Artificial Leg and Experimental Modeling Research of Pneumatic Artificial Muscles |
| title_full_unstemmed | Bionics Design of Artificial Leg and Experimental Modeling Research of Pneumatic Artificial Muscles |
| title_short | Bionics Design of Artificial Leg and Experimental Modeling Research of Pneumatic Artificial Muscles |
| title_sort | bionics design of artificial leg and experimental modeling research of pneumatic artificial muscles |
| url | http://dx.doi.org/10.1155/2020/3481056 |
| work_keys_str_mv | AT hualongxie bionicsdesignofartificiallegandexperimentalmodelingresearchofpneumaticartificialmuscles AT zhijieli bionicsdesignofartificiallegandexperimentalmodelingresearchofpneumaticartificialmuscles AT feili bionicsdesignofartificiallegandexperimentalmodelingresearchofpneumaticartificialmuscles |