靭帯型拘束法による転がり回転関節の設計

抄録

Human's joint structure consists of ligaments, bones and muscles. This structure is strong to the load-stress applied to the joint. In this research, we propose a method as the engineering application of the mechanism of ligaments and bones. In the proposed method, a fiber-belt is used as a substitute of ligaments. Fibers have two types of states: a tensioned state and a relaxed state. We determined the condition under which the fiber generates tension, and realized joint restraint by multiple fibers. In the case that the center of rotation changes, the joint is constrained by using the fiber tensions and the joint surface reaction forces. We developed a rolling joint by the fiber constraint method. In the developed rolling joint has the changing rotational center position due to the rolling motion. Cycloid curves and trochoid curves are used for articular contact surface design. We confirmed that the rolling joints can be realized with the proposed fiber constraint method.