Journal of Jilin University(Engineering and Technology Edition) ›› 2020, Vol. 50 ›› Issue (2): 758-764.doi: 10.13229/j.cnki.jdxbgxb20190265

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Design of bionic tensegrity leg and simulation analysis of its impact resistance

Zhi-hui QIAN1(),Si-jie WU1,2,Qiang WANG1,Xin-yan ZHOU1,Jia-nan WU1,Lei REN1(),Lu-quan REN1   

  1. 1.Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China
    2.College of Electrical and Mechanical Engineering, Harbin Institute of Technology, Harbin 150006, China
  • Received:2019-03-21 Online:2020-03-01 Published:2020-03-08
  • Contact: Lei REN E-mail:zhqian@jlu.edu.cn;lren@jlu.edu.cn

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Abstract:

To solve the problem of poor impact resistance of robot leg and foot system, a bionic tensegrity mechanical leg was developed based on the principle of biological tensegrity. Flexible materials were employed to simulate the biological joint ligament and tendon, instead of using rigid hinge joint. Finite element simulation results show that the bionic tensegrity mechanical leg has better impact resistance than the traditional mechanical leg. The material sensitivity analysis results show that during impact, the flexible member in the bionic tensegrity leg absorbs the impact energy effectively through deformation, reduces the impact strength, and improves the stress distribution state of the rigid member. Within the scope of the study, keeping the elastic modulus of bionic tendon material as constant, the smaller the elastic modulus of the bionic ligament, the stronger the anti-impact and anti-bending resistance of the bionic leg. Similarly, when the bionic ligament is kept constant, the larger the elastic modulus of the bionic tendon, the better the anti-impact and anti-bending resistance of the bionic leg. Furthermore, this project provides important theoretical basis for the innovative design of robot leg-foot system.

Key words: bionic engineering, tensegrity principle, bionic mechanical limb, impact resistance

CLC Number: 

  • TB17

Fig.1

Bionic tensegrity leg"

Fig.2

Simplified bionic tensegrity leg and traditional leg"

Table 1

Material property of bionic and traditional leg"

部件材料弹性模量/MPa泊松比文献
骨骼铝合金70 0000.30[ 20]
仿生韧带LDPE700.45[ 22]
仿生筋腱LDPE1400.45[ 22]

Fig.3

Loading and boundary conditions"

Fig.4

Nodal stress curves along two paths"

Fig.5

Compression and tension stress distribution"

Fig.6

Elastic strain energy of two mechanical legs"

Fig.7

Effect of elastic modulus variation of bionic ligament on nodal stress distribution of bionic tensegrity leg"

Fig.8

Effect of elastic modulus variation of bionic tendon on nodal stress distribution of bionic tensegrity leg"

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