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.
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