Design method for a bionic wrist based on tensegrity structures

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. 2 Materials and method 2.1 Mechanism of human wrist movement The wrist of the human body has a special movement and action mechanism, which enables the upper limbs of the human body Biosurface and Biotribology

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“…To achieve high flexibility within the human musculoskeletal system, a bionic tensegrity wrist was developed by Sun et al [72]. Based on an universal joint component that allows extension/flexion and abduction/adduction movement, the movement characteristics of the human muscles are realised by the contraction and stretching of the springs in the tensegrity component.…”

The dynamic relaxation form finding method aided with advanced recurrent neural network

“…The tensegrity structures have been widely used in the fields of large-scale dome architecture, sculpture, and biomimetic robot [1][2][3]. The tensegrity form-finding course is a crucial step for further analysis of tensegrity structure.…”

A wrist-inspired suspended tubercle-type tensegrity joint with variable stiffness capacity

“…Additionally, the rigidity of a tensegrity can be easily adjusted by changing the tension within the network [9]. Tensegrity structures have been used in bionic shoulders [10], elbows [11], knees [12] and wrists [13,14].…”