Modelling of BLDC Motor for Robotic Leg Joint

Space robotics deals with different parameters and conditions of planets. This kind of robots is build-up of different type of components such as joints, links, joint controllers, different types of sensors, wheels etc. Here a four legged robot is planned in which each leg is composed of five joints. The characterization of these joints is necessary in order to study each leg and kinematics of overall configuration. Hence in this present work an attempt is made to make a mathematical model of a robotic joint which is composed of brushless DC motor, planetary gear, harmonic drive, absolute encoder and motor controller. So the model of robotic joint can be used for the kinematics and dynamic study of the robot.