Design and dynamics of a two-DOF joint actuated by one single motor

摘要

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 this paper, a two-DOF bionomic joint is proposed, and its dynamic characteristic is analyzed and simulated. The joint is acutated by one single motor through bevel gears, with fewer actuators than DOFs, so it belongs to underactuated mechanism. The motor torque is distributed through damper control on the twoDOFs, so that the output motion can be controlled. The structure design is an innovative application of mechanical theory; the dynamic analysis is the base of control method.