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