Robotic Controlled Electromechanical Model of Two Links of Variable Length for Aerospace Purposes

摘要

A method is proposed for modeling the dynamics of an electromechanical robotic controlled system with two links of variable length, which can be used to create the lower limbs of a spacesuit, exoskeleton or manipulator. An algorithm for constructing Lagrange equations and recommendations for choosing a battery, motors, gearboxes, and screw gears are given. Two control algorithms are proposed and a comparative analysis of battery life is carried out when performing the corresponding algorithms. The main difference of the model considered in the paper is the application of links of variable length.