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.
| Original language | English |
|---|---|
| Pages (from-to) | 16-21 |
| Number of pages | 6 |
| Journal | Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering |
| Volume | 47 |
| Issue number | 7 |
| DOIs | |
| State | Published - 5 Apr 2011 |
Keywords
- Cable modeling
- Dynamics
- Flexible driven unit
- Robot
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