Abstract
The leg joints play an important role in the stable movement of a walking robot. However, the traditional robot joints will cause large impact force and high energy consumption. The ostrich is the fastest biped. The special biological assembly mode of its intertarsal joints can achieve smooth and efficient movement. First, the musculoskeletal dynamic relationship of the ostrich’s legs during walking and running was simulated by OpenSim. It is found that the ostrich’s anterior tendon provides driving force and its peroneus longus maintains the stability and operation of the joint. Meanwhile, ostriches can store or release energy by changing the lengths of tendons and ligaments at joints. Besides, the 3D model of the intertarsal joint and cartilage of the ostrich were obtained by 3D reconstruction technique, and the curve equation of tarsometatarsus surface was extracted. Then, the bionic cushioning and energy-saving joint was designed and the finite element simulation analysis of the bionic joint was also carried out. The simulation results show that the bionic cartilage structure can absorb the impact and reduce the stress concentration, therefore achieving the cushioning effect. Finally, the bionic cushioning and energy-saving joint mechanism was processed and assembled, and the energy consumption test was carried out. The results show that the combination of bionic gasket structure and relaxed elastic fixed element is the optimal assembly mode of the bionic cushioning and energy-saving joint. This study provides a new idea for the design and optimization of robot leg joints.
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call