Dynamic Modeling and Peak Torque Prediction of Servo Motor for a 3-DOF Parallel Humanoid Mechanical Leg

doi:10.3969/j.issn.1000-1093.2014.11.027

Abstract

Abstract: In order to make up for the deficiencies of the humanoid robot structure and to improve the versatility and adaptability of mechanical leg, the dynamics property of a parallel mechanical leg is discussed in detail. The inverse kinematics transmission equations for the mechanical leg are derived analytically. Then a dynamics model of the mechanical leg is established using the second Lagrange method. The expressions of inertia moment, Coriolis force-centrifugal force, and gravity are obtained by derivation. Based on the above dynamics model, the peak prediction model of servo motor for the mechanical leg is defined. The change rules of angular velocity and driving torque caused by the mechanical leg servo motor are analyzed, and the dynamics property of the mechanical leg is obtained. Finally the peak prediction model of servo motor for the mechanical leg is validated, and the estimated maximum peak torque is 3.195 N·m. The results show that the angular speed and driving torque of mechanical leg display present periodic variation. The peak prediction model of servo motor can provide theoretical base for the selection of the mechanical leg servo motor.

Key words: control science and technology, parallel mechanism, Lagrange method, dynamic modeling, inverse kinematic solution, peak prediction model

CLC Number:

TP242.2

LI Yan-biao, LI Jing-min, JI Shi-ming, ZHENG Chao, ZHAO Zhang-feng. Dynamic Modeling and Peak Torque Prediction of Servo Motor for a 3-DOF Parallel Humanoid Mechanical Leg[J]. Acta Armamentarii, 2014, 35(11): 1928-1936.

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