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Frontiers of Mechanical Engineering

ISSN 2095-0233

ISSN 2095-0241(Online)

CN 11-5984/TH

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Front. Mech. Eng.    2016, Vol. 11 Issue (2) : 170-183    https://doi.org/10.1007/s11465-016-0383-0
RESEARCH ARTICLE
Design and simulation of a cable-pulley-based transmission for artificial ankle joints
Huaxin LIU1,Marco CECCARELLI2,*(),Qiang HUANG3
1. Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China; Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
2. Laboratory of Robotics and Mechatronics (LARM), DICeM, University of Cassino and South Latium, Cassino 03043, Italy
3. Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China; Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China; Beijing Innovation Center for Intelligent Robots and Systems, Beijing 100081, China; State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing 100081, China
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Abstract

In this paper, a mechanical transmission based on cable pulley is proposed for human-like actuation in the artificial ankle joints of human-scale. The anatomy articular characteristics of the human ankle is discussed for proper biomimetic inspiration in designing an accurate, efficient, and robust motion control of artificial ankle joint devices. The design procedure is presented through the inclusion of conceptual considerations and design details for an interactive solution of the transmission system. A mechanical design is elaborated for the ankle joint angular with pitch motion. A multi-body dynamic simulation model is elaborated accordingly and evaluated numerically in the ADAMS environment. Results of the numerical simulations are discussed to evaluate the dynamic performance of the proposed design solution and to investigate the feasibility of the proposed design in future applications for humanoid robots.
Keywords biomimetic designs      ankle joints      cable-pulley transmissions      multi-body dynamic simulation      numerical characterization     
Corresponding Author(s): Marco CECCARELLI   
Online First Date: 23 May 2016    Issue Date: 29 June 2016
 Cite this article:   
Huaxin LIU,Marco CECCARELLI,Qiang HUANG. Design and simulation of a cable-pulley-based transmission for artificial ankle joints[J]. Front. Mech. Eng., 2016, 11(2): 170-183.
 URL:  
https://academic.hep.com.cn/fme/EN/10.1007/s11465-016-0383-0
https://academic.hep.com.cn/fme/EN/Y2016/V11/I2/170
Fig.1  Anatomy of the human ankle
Fig.2  Simplified model of the human ankle in the sagittal plane with main design parameters
Fig.3  Conceptual kinematic design of the ankle joint with cable-pulley transmission and its design parameters
Fig.4  CAD of the mechanism in Fig. 3 for artificial ankle joint
Fig.5  Flowchart for designing a cable-pulley-based solution in Fig. 4 for artificial ankle joints
Fig.6  CAD model for multi-body dynamic simulation
Parameter Design value
R1/mm 24
R2/mm 96
i 1:4
d/mm 140
F/(° ) 0
d/(° ) 30
q/(° ) 100
a/(° ) [20,120]
Tab.1  Design parameters for ankle motion simulation of the design in Fig. 4
Fig.7  Snapshot of a simulated motion of the design artificial ankle joint: (a) 3.00 s; (b) 3.25 s; (c) 3.50 s; (d) 3.75 s; (e) 4.00 s
Parameter Assumed value
Contact stiffness/(N?mm-1) 1.0×105
Penetration depth/mm 0.1
Static friction coefficient 0.1
Dynamic friction coefficient 0.08
Damping factor/(N?s?mm-1) 0.01
Tab.2  Assumed parameters in the ADAMS model in Fig. 6
Fig.8  Numerical results of Mode 1 motion simulation: (a) Driven pulley kinematic history; (b) cable kinematic history
Fig.9  Numerical results of mode1 motion simulation: (a) Motor shaft reaction force; (b) ankle shaft reaction force
Fig.10  Numerical results of the cable tension in Mode 1 motion simulation
Fig.11  Numerical results of the motor driving input in Mode 1 motion simulation
Fig.12  Numerical results of Mode 2 motion simulation: (a) Driven pulley kinematic history; (b) cable kinematic history
Fig.13  Numerical results of Mode 2 motion simulation: (a) Motor shaft reaction force; (b) ankle shaft reaction force
Fig.14  Numerical results of the cable stretched tension in Mode 2 motion simulation
Fig.15  Numerical results of the motor driving input in Mode 2 motion simulation
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