• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 2011, Vol. 47 ›› Issue (7): 16-21.

• 论文 • 上一篇    下一篇

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机器人关节用挠性驱动单元设计与粘弹性动力学建模

吴伟国;侯月阳   

  1. 哈尔滨工业大学机械设计系
  • 发布日期:2011-04-05

Design and Viscoelasticity Dynamics Modeling of Flexible Driven Unit for Robot’s Joint

WU Weiguo;HOU Yueyang   

  1. Department of Mechanical Design, Harbin Institute of Technology
  • Published:2011-04-05

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摘要： 设计一种钢丝绳传动、动滑轮组增力的机器人关节用模块化挠性驱动单元，其特点是轻型小巧、安装方便、双向驱动、挠性输出。基于粘弹性本构关系推导该驱动单元动力学模型，并给出算例。提出一种三维相对可变多义线建立“钢丝绳—动滑轮”系统的方法，利用该方法在动力学仿真软件下建立驱动单元模型，并以双足步行机器人2 km/h步速下髋关节侧偏自由度正常步行一步的样本为依据进行动力学仿真。结果表明该驱动单元能有效应用于机器人，为后续试验奠定理论依据。

关键词: 动力学, 钢丝绳建模, 机器人, 挠性驱动单元

Abstract: A flexible driven unit used for joint of robot is designed, whose features are light-duty, convenient, two-way driven and flexible. Dynamics model is deduced based on constitutive equation of viscoelasticity, whose example is shown. A novel method of building cable-pulley system is provided in order to establish model of driven unit and success to simulate based on walking sample of hip with a step at a speed of 2 km/h. The results of dynamics simulation show that the driven unit can be used to robot, which is the foundation for the following experiment.

Key words: Cable modeling, Dynamics, Flexible driven unit, Robot

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