Static Decoupling Performance Analysis and Design of Bionic Elbow Joint

Abstract

The static decoupling performance is closely related to the efficiency of the bionic elbow joint mechanism. The bionic elbow joint has good static decoupling and has high efficiency and carrying capacity. First, the movement structure and characteristics of the elbow joint are analyzed, a kind of bionic elbow joint is proposed, the position inverse solution is deduced, and force Jacobin matrix of the bionic elbow joint is obtained. Second, the static coupling performance evaluation index and the global static coupling performance index are established, the performance atlas are drawn. Thirdly, by use of the Monte Carlo method the structural parameters of the bionic elbow joint are optimized and selected based on the spatial model theory, and a novel the bionic elbow joint is designed based on parameters optimization, and the static decoupling is verified by the simulation experiment of the bionic elbow joint. The analysis results shows the static decoupling performance of the bionic elbow joint is symmetrical, and with the working space of the attitude output angle increases, the static decoupling decreases gradually. Structural parameters and have great influence on the global static decoupling performance. The structural parameters of is 90mm, is 70mm,and is 30mm, the bionic elbow joint has good static decoupling. This paper lays a foundation for further analysis and research of the bionic elbow joint.