Kinematic analysis and optimization of a kangaroo geared five-bar knee joint mechanism

By analyzing the skeleton of the kangaroo's tibia and femur, a movement is assumed. According to this hypothesis, the centrode of the shank relative to the thigh is calculated. On this basis, a special geared five-bar mechanism is proposed, and the motion analysis and optimization calculation of the mechanism are carried out. The geared five-bar bionic joint mechanism is optimized to mimics the features of the kangaroo knee movement. Finally, the 3D model design and object making are completed, and the result shows that the geared five-bar mechanism can well simulate the motion characteristics of kangaroo knee joint.