Design Innovation Paper

Performance Maps for a Bio-Inspired Robotic Condylar Hinge Joint

[+] Author and Article Information
Stuart C. Burgess

Department of Mechanical Engineering,
University of Bristol,
Bristol BS8 1TR, UK
e-mail: S.C.Burgess@bristol.ac.uk

Appolinaire C. Etoundi

Department of Engineering
Design and Mathematics,
University of the West of England,
Bristol BS16 1QY, UK
e-mail: Appolinaire.Etoundi@uwe.ac.uk

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received December 6, 2013; final manuscript received July 28, 2014; published online October 8, 2014. Assoc. Editor: Matthew B. Parkinson.

J. Mech. Des 136(11), 115002 (Oct 08, 2014) (7 pages) Paper No: MD-13-1564; doi: 10.1115/1.4028168 History: Received December 06, 2013; Revised July 28, 2014

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 modeled: 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 visualize the limits of performance of the joint and visualize tradeoffs 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 analyzing the kinematics of the four-bar mechanism and the shape of the condylar surfaces.

Copyright © 2014 by ASME
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Grahic Jump Location
Fig. 3

Generation of tibia profile

Grahic Jump Location
Fig. 2

Femur profile used in case study

Grahic Jump Location
Fig. 1

Bio-inspired condylar hinge joint

Grahic Jump Location
Fig. 4

Effect of aspect ratio on mechanical advantage for 90 deg rotation (r1-max > r2-max)

Grahic Jump Location
Fig. 5

Effect of offset angle on range (for large offset gap)

Grahic Jump Location
Fig. 6

Effect of zero offset gap on range



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