Research on Structural Design and Kinematic Modeling of Intelligent Biomimetic Legs
The intelligent biomimetic leg is used as a tool for assisting walking for lower limb amputees to compensate for the lateral movement function of the amputee.Its main structural design includes three positions:hip,knee,and ankle.This article uses the 3D aided design software PRO/E to conduct modeling research on the structure design of biomimetic legs.It introduces the structural design and driving design process of the main joint structures of biomimetic legs-hip,knee,and ankle joints.It innovatively uses artificial muscles as the driving method for the knee joint of biomimetic legs,improving the anthropomorphism of the knee joint.Establishing a kinematic model for the support phase and swing phase of the biomimetic leg using the Lagrangian method,it derives and calculates the kinematic and dynamic equations of the biomimetic leg.Finally,a model dynamics simulation study was conducted based on Matlab and Adams software,and the results show that the established model can achieve prosthetic humanoid gait.
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