Multi-Joint Bionic Mechanism Based on Non-Circular Gear Drive

Aiming at the nonlinear expansion/contraction drive problem between different cables in multi-joint cable mechanisms, a mechanical method based on non-circular gear was proposed, which could replace servo-sensing control system and minimize system’s complexity cost. A single-degree-of-freedom (DOF) bending mechanism constructed with several T-shaped components cross-shaped components. The principle of driven by gears clarified. corresponding relationships joint angle, cables’ extension/retraction amount transmission ratio were established. Using Bowden driving, multi-DOF decoupling scheme proposed. Considering adverse effect hysteresis motion backlash elimination expression respect to axial movement deduced, enable precise backlash. two-DOF bionic developed. experimental results show that can achieve coordinated precisely controlling line extension/contraction through gears. This has characteristics reliable structure simple control, it is expected be applied fish quadruped robots future.