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

LI Yan-biao;LI Jing-min;JI Shi-ming;ZHENG Chao;ZHAO Zhang-feng

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  • Sponsored by: China Association for Science and Technology (CAST)

    Editor-In-Chief: Xu Yida

    ISSN 1000-1093

    　

  • Hosted By: China Ordnance Society

    Published By: Acta Armamentarii

    CN 11-2176/TJ

Acta Armamentarii, a Chinese monthly journal, was first published in 1979. The journal is supervised by China Association for Science and Technology, sponsored by China Ordnance Society，and edited and published by Editorial Board of Acta Armamentarii. The Journal is included in all important domestic databases，and also collected by Engineering Index (EI, USA), Chemical Abstracts (CA, USA), Science Abstracts (SA, UK）, Abstract Journal (AJ, Russia), and Current Bibliography on Science and Technology(CBST).Acta Armamentarii has been selected into the journal Of Ordnance Science and Technology (Weapons Industry) Field Of High Quality Scientific and Technological Periodical Classification Catalogue (2022 edition), ranking T1, and the journal of Automotive Engineering Field of High Quality Scientific and technological Periodical classification Catalogue, ranking T2.
Acta Armamentarii ›› 2014, Vol. 35 ›› Issue (11) : 1928-1936. DOI: 10.3969/j.issn.1000-1093.2014.11.027
Research Notes

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

  • LI Yan-biao, LI Jing-min, JI Shi-ming, ZHENG Chao, ZHAO Zhang-feng
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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

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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. Acta Armamentarii. 2014, 35(11): 1928-1936 https://doi.org/10.3969/j.issn.1000-1093.2014.11.027

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