In the present investigation, the design and simulation of a polycentric knee mechanism with four-bar of voluntary control is performed, posing its mathematical model using the vector loop equation, so that its instantaneous center of rotation (CIR) meets the stability criteria established by Hosmer-Dorrance. The design of a four-bar system and the clamping for a hydraulic actuator were performed, followed by the simulation using finite elements in SolidWorks. The results obtained indicate that the maximum Von Mises tension in the four-bar mechanism is 5.161x107N/m2 and 3.834x107N/m2 in the actuator clamp, with a safety factor of the entire system greater than 1, guaranteeing to support a maximum weight of 102Kg. A prototype was built by additive and subtractive manufacturing, verifying the correct operation of the system, complying with angular displacements.
|Title of host publication||2020 IEEE ANDESCON, ANDESCON 2020|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|State||Published - 13 Oct 2020|
|Event||2020 IEEE ANDESCON, ANDESCON 2020 - Quito, Ecuador|
Duration: 13 Oct 2020 → 16 Oct 2020
|Name||2020 IEEE ANDESCON, ANDESCON 2020|
|Conference||2020 IEEE ANDESCON, ANDESCON 2020|
|Period||13/10/20 → 16/10/20|
Bibliographical notePublisher Copyright:
© 2020 IEEE.
- Polycentric mechanism
- Voluntary control