Design and Research of Bionic Ankle Joint Based on Tensile Structure

Combined with the morphological structure and tensile structure of the human ankle joint, a bionic structure of the ankle joint based on the tensile structure is proposed in this paper, in view of solving the problems of poor adaptability and poor structural flexibility of traditional bionic foot mobile robots in complex environments. Firstly, the bionic design method is used to analyze the mechanism design and configuration, by constructing the equivalent mapping model of the human ankle joint. Then, ANSYS software, Matlab numerical calculation and ADAMS are used to simulate and verify the theoretical numerical calculation results of spring deformation. The results show that the error of the experimental and simulation results is less than 3.7mm, and the designed ankle joint mechanism could realize the movement on a slope of 15 degrees. Furthermore, the effectiveness and feasibility of the proposed structure are verified, which extend the design method for the legged robot with adaptive walking ability.