Kinematics transmission analysis on anthropopathic mechanical leg based on spatial model technique

Abstract: In order to make up for the deficiencies of the anthropopathic robots structure and improve its popularity and adaptability, a novel anthropopathic mechanical leg was proposed, and its kinematics transmission analysis was discussed in detail. First of all, the inverse position equations and kinematics transmission equations for the anthropopathic mechanical leg were derived analytically. Then the evaluation indicator of kinematics transmission properties and global performance indicator of kinematics transmission properties for the thigh and calf of anthropopathic mechanical legs were defined based on the position and kinematics analysis. Finally the kinematics atlases were analyzed using the spatial model technique, and the effects of the parameters on the global performance indicator of kinematics transmission were given in the limited space coordinate system. The research results of the kinematics analysis showed that, with the parameters closer to the intermediate value, the evaluation indicator value of global velocity transmission was better; with the increase of the length of rod WE, ED and O1D, the evaluation indicator value of global angle velocity transmission was better; with the decrease of the length of rod OC, BC, DO1 and GH, the evaluation indicator value of global angle velocity transmission was better. The study provides a reference for the parameter optimization and application of the anthropopathic mechanical legs.