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

Abstract

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

CLC Number:

TG156

WU Weiguo;HOU Yueyang. Design and Viscoelasticity Dynamics Modeling of Flexible Driven Unit for Robot’s Joint[J]. , 2011, 47(7): 16-21.

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

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