Skip to main content

Research Repository

Advanced Search

Performance maps for a bio-inspired robotic condylar hinge joint

Etoundi, Appolinaire C.; Burgess, Stuart C.

Authors

Stuart C. Burgess



Abstract

This paper presents performance charts that map the design space of a bio-inspired robotic condylar hinge joint. The joint mimics the design of the human knee joint by copying the condylar surfaces of the femur and tibia and by copying the four-bar motion of the cruciate ligaments. Four aspects of performance are modelled: peak mechanical advantage; RMS (root mean square) mechanical advantage; RMS sliding ratio and range of movement. The performance of the joint is dependent on the shape of the condylar surfaces and the geometry of the four-bar mechanism. The design space for the condylar hinge joint is large because the four-bar mechanism has a very large number of possible configurations. Also, it is not intuitive what values of design parameters give the best design. Performance graphs are presented that cover over 12,000 different geometries of the four-bar mechanism. The maps are presented on three-dimensional graphs that help designers visualise the limits of performance of the joint and visualise trade-offs between individual aspects of performance. The maps show that each aspect of performance of the joint is very sensitive to the geometry of the four-bar mechanism. The trends in performance can be understood by analysing the kinematics of the four-bar mechanism and the shape of the condylar surfaces.

Journal Article Type Article
Publication Date Jan 1, 2014
Journal Journal of Mechanical Design
Print ISSN 1050-0472
Publisher American Society of Mechanical Engineers
Peer Reviewed Peer Reviewed
Volume 136
Issue 11
Pages 115002
APA6 Citation Etoundi, A. (2014). Performance maps for a bio-inspired robotic condylar hinge joint. Journal of Mechanical Design, 136(11), 115002. https://doi.org/10.1115/1.4028168
DOI https://doi.org/10.1115/1.4028168
Keywords condylar hinge joint, performance charts, mechanical advantage, sliding ratio, range of movement, four-bar mechanism, cam mechanism
Publisher URL http://dx.doi.org/10.1115/1.4028168
Additional Information Corporate Creators : Stuart Burgess
;