Design method for a bionic wrist based on tensegrity structures. Issue 2 (19th April 2020)

• Record Type: Journal Article
• Authors: Sun, Jianwei; Cao, Xuemin; Song, Guangsheng
• Is Part Of: Biosurface and biotribology. Volume 6:Issue 2(2020)
• Page Start: 31
• Page End: 36
• Publication Date: 2020-04-19
• Subjects: biocybernetics -- muscle -- bone -- physiological models -- gait analysis -- medical robotics -- artificial limbs -- biomechanics -- motion control; design method -- bionic wrist -- tensegrity structure -- traditional bionic upper limb structure design -- motion pair -- mechanical structure -- high deformability -- strong self‐adaptability -- multidirectional impact -- biological characteristics -- upper limbs -- human body -- upper limb wrist joints -- related bones -- mechanical model -- two‐bar tensile properties -- movement characteristics -- human muscles -- optimised bionic upper limb wrist tensioning robot -- bionic tensile wrist -- human wrist -- adaptive motion characteristics; Tribology -- Periodicals; Biomedical materials -- Periodicals; Tribology -- Congresses -- Periodicals; Biomedical materials -- Congresses -- Periodicals; Biological interfaces -- Congresses -- Periodicals; Biological interfaces; Biomedical materials; Tribology; Biocompatible Materials; Surface Properties; Materials Testing; Periodicals; Electronic journals; Periodical; Electronic journals; 610.28
• DOI: 10.1049/bsbt.2019.0022
• Languages: English
• ISSNs: 2405-4518

Abstract

Abstract : The traditional bionic upper limb structure design is limited by the motion pair and cannot guarantee the flexibility of the mechanical structure. The tensegrity structure has the characteristics of high deformability, strong self‐adaptability, and resistance to multi‐directional impact. According to the biological characteristics of the upper limbs of the human body, an anatomical study is performed on the upper limb wrist joints that achieve adduction/abduction, flexion/extension, to obtain the relationship between the movements of the related bones and muscles, and to simplify the shape and structure of the wrist. Equivalent mapping of a mechanical model based on two‐bar tensile properties. Through the contraction and stretching of the spring, the movement characteristics of the human muscles are realised, and the optimised bionic upper limb wrist tensioning robot without motion pair is further obtained. Adams simulation is used to verify that the bionic tensile wrist can simulate the change movement of the human wrist. The experimental platform was built and a physical prototype was made and the prototype was tested. The results show that the bionic tensile wrist can realise the adaptive motion characteristics of the human wrist well and stably, which proves the validity and feasibility of this design method.