Two-DOF (Degree of Freedom) joint with two perpendicular axes is very common on animals, so research on modular two-DOF joint will have a good effect on the development of bionomic robot. In general, two-DOF joints are fully-actuated: the number of actuators is equal to the number of DOFs. In this paper, we propose a two-DOF joint actuated by one single motor. The joint is actuated by one single motor through bevel gears, with fewer actuators than DOFs, so it belongs to underactuated mechanism. Although, in traditional mechanical theory, the motion of the bevel gears is not controlled. The damper controllers are added to the joint mechanism, and the motor torque is distributed by damper controllers on the two DOFs. So the motion of joint can be controlled. Our research work includes motion analysis, simulation experiment, designing control system, researching control methods, doing experiment on prototype of the joint mechanism and so on. All the work can be summarized as follows: 1.Make the kinematic analysis of the joint. Though the simulation experiment with ADAMS and MATLAB, test and verify the feasibility of the joint. 2.Design the control system, and research the control methods. In the way of expert system, control the torque which motor outputs and the damper torques to make the joint revolve in a stable and uniform speed. 3.According to the errors of location in Two DOFs, the velocity of joint is regulated by fuzzy control, and the location of the joint can be controlled. 4.To accuracy of the system as standard, do the control experiments, make the joint revolve at the given speed and arrive at the given location. Analyze the results of the experiments and research the control methods.
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