Dual DoF Self-adaptive Bionic Ankle’s Spring-Cable System Design and Dynamic Simulation

This study focuses on the design and dynamic simulation of a spring-cable-driven system for a dual-degree-of-freedom (2-DOF) adaptive bionic ankle joint. The research aims to overcome the limitations of conventional ankle joint designs in complex terrains, including insufficient stability caused by single-degree-of-freedom configurations and inadequate real-time terrain adaptability. To address these challenges, the study developed a biomimetic ankle model capable of replicating the sophisticated motion patterns of human ankle joints. The proposed design incorporates a lightweight cable-driven mechanism with remotely positioned actuators. Through systematic simulation and optimization using ADAMS dynamic simulation software, key parameters were determined: a spring stiffness coefficient of 900 N/m, ground contact angle of 20°, and motor rated speed of 250 rpm.