The Elastic Actuater Of Low Impedance Using Electromotor

Hopped robot is currently one of the hot areas in the development of robot. This paper addresses an important research interest of elastic actuator (one kind of artificial muscle) driven by a electromotor in the area of Hopped robot, by means of a flexible structure of the electromotor drive to achieve a small impedance legged robot driven device.Based on the analysis of the development of legged robot and its actuating devices at home and abroad, a theoretical model for flexible drive is established to focus on analyzing the frequency-domain characteristics of the drive, including drive bandwidth and impedance characteristics, which can provide a powerful theoretical foundation for the following structural design of flexible drive. Based on the analysis of the theoretical characteristics, drive's mechanical structure is designed, including the kind of flexibility for the slider-type flexible structure, rigid screw displacement promote structural, elastic deformation measuring devices and electrical components such as component selection, the mechanical structure was designed. Further, this subject preceded the finite element to analysis the strength of the key components in mechanical structure and completed the final processing of the flexible drive. This subject also presents the driving circuit for the DC servo motor, including the PWM bridge driver circuit, and encoder measurement circuit.In order to study the drive performance of the flexible drive, the outputs of the drive with different impedance and drive bandwidth are simulated to provide the drive parameters under certain conditions. Finally in use of the flexibility drive completed above, driving force output experiments was taken under the DSpace platform, its impedance, bandwidth was also analyzed.