Virtual Prototype and Collaborative Simulation of Bionic Knee Joint

摘要

The polycentric closed-chain 4-bar joint controlled by magneto-rheo-logical(MR)damper was given and used as humanoid robot knee joint.To meet the requirements of bionic knee joint's development,the study method based on virtual prototype and collaborative simulation was proposed.Pro/E,ADAMS and MATLAB Simulink were integrated to be used as a united simulation platform for bionic knee joint's hybrid hierarchical modeling.Virtual prototype was built.Kinematics,dynamics and iterative learning control collaborative simulation methods were pointed and swing gait control simulation was done.Collaborative simulation can do multi-filed simulation,and avoids heavy works of manual modeling,and improves 4-bar bionic knee joint study.