Analysis of Statics and Design of Structur Parameters for a Bionic Robot Hip Joint

Author(s):  
Bing Yan Cui ◽  
Li Wen Chen ◽  
Zhi Jun Wang ◽  
Yuan Hao Zhao ◽  
Li Zhan Xian ◽  
...  

The hip joint is one of the body's important joints, most of the lower limb activities of the human body are inseparable from the hip joint, a novel bionic robot hip joint was proposed based on 3-DOF spherical parallel mechanism. The statics performance of the bionic robot hip joint was analyzed, and the structure parameters were designed. First, the static transmission equation of the bionic robot hip joint was established using the principle of virtual works, which simplifies the calculation process of the bionic robot hip joint. Further, using the norm in Matrix theory, the force Jacobian matrix was introduced into the statics performance evaluation index, and the statics performance evaluation index and the global torque performance evaluation index was defined, and the performance atlas of the statics performance evaluation index was plotted at the workspace of the bionic robot hip joint. Moreover the objective optimal function was established basing on the global torque performance evaluation index, and the relation of the objective optimal function and the global torque performance evaluation index were analyzed. By use of fully automatic searching method, the optimal structural parameter ranges of the bionic robot hip joint were obtained. Analysis results show that the bionic robot hip joint has good static transmission performance at initial position, and the static transmission performance is decreased with increasing the workspace. Finally, using a set of optimal structural sizes parameters, a novel bionic robot hip joint was designed, which established the theoretical foundation for the bionic robot design and apply.

2013 ◽  
Vol 749 ◽  
pp. 566-570
Author(s):  
Bing Yan Cui ◽  
Zhen Lin Jin

Kinematics research of mechanism is very important, the dynamic analysis and the design are based on linematics analysis. In this paper, a novel robot hip joint based on 3-RRR orthogonal spherical parallel mechanism is proposed, and Jacobin matrix is established. Then the linematics transmission performance evaluation index is defined. Furthermore the linematics transmission performance index is analyzed. The hip joint has good linematics transmission performance at the initial position. With the increase of workspace, linematics transmission performance gradually decreased. 3-RRR parallel mechanism is the ideal prototype of bionic robot and rehabilitation robot hip joint.


Author(s):  
Li Wen Chen ◽  
Bing Yan Cui ◽  
Zhi Jun Wang ◽  
Ling Chao Meng ◽  
Zhan Xian Li

In order to improve ability of walking and crossing the barriers , increase the carrying capacity, and enhance its popularity and adaptability, a novel lower limb bionic leg is presented based on 3-UPS parallel mechanism, which has the characteristics of movement flexible and strong adaptability. It is very important analysis to statics of lower limb bionic leg. Firstly, statics equation of the lower limb bionic leg of driving force and output force is established based on virtual work principle. Secondly, static performance evaluation index is defined and the evaluation index distribution map is drawn. The relationship between the structure parameters and the static performance evaluation indexes is analyzed, obtained the influence of structure parameters on the static performance evaluation index, and a set of reasonable structural parameters is selected. The circum-radius of moving platform is 50mm, the circum-radius of the static platform is 150mm, the moving platform angle and static platform angle are equal to 60°, the lower limb bionic leg has the best load carrying capacity. Thirdly, the lower limb bionic leg is designed based on statics analysis and structure parameters optimization. Analysis results show that the lower limb bionic leg has good static transmission performance at the initial position, and the static transmission performance decreases with increasing turning workspace. The static transmission performance decreases with z axle displacement increasing. The analysis results laid a foundation for further analysis and research of the lower limb bionic leg.


Author(s):  
Liye Zhang ◽  
Yong He ◽  
Shoushan Cheng ◽  
Guoliang Wang ◽  
Hongwei Ren ◽  
...  

<p>With the number of bridges increases, the bridge health monitoring (BHM) technique is developing from single bridge monitoring to collaborative supervision of bridge group. Therefore, there are many technical problems need to be solved especially the performance evaluation index for bridge group network. This paper analyses the performance evaluation index of the bridges and bridge group network, establishes the performance evaluation index for bridge group based on rating factor (RF) and technical condition evaluation index. Based on bridge field testing and monitoring data, bridge technical condition evaluation index and performance evaluation method for bridge group are proposed. A case study demonstrates that the research results provide support for bridge group networking monitoring and collaborative supervision.</p>


2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Huashan Zhan

In order to improve the accuracy and efficiency of performance evaluation, the interactive application of virtual reality and intelligent big data in landscape design is proposed. Clara algorithm is used to mine the performance evaluation index data of landscape simulation design. The performance evaluation index system of landscape simulation system is established based on the data mined. BP network is used to build a comprehensive evaluation model. The expert scoring method is the evaluation index system scoring, which is used as the input of BP network, and the expected output is a neuron. The value of the neuron represents the comprehensive performance evaluation value of the landscape simulation system. The experimental results show that the evaluation results of the research method are consistent with the expert evaluation results, with high accuracy; with the increasing number of systems, the evaluation efficiency of the research method is faster.


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