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7-DOF Cable-Driven Humanoid Robotic Arm

[+] Author Affiliations
Jun Ding, Robert L. Williams, II

Ohio University, Athens, OH

Paper No. DETC2011-48276, pp. 1317-1326; 10 pages
doi:10.1115/DETC2011-48276
From:
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME

abstract

The purpose of this paper is to study a 7-DOF humanoid cable-driven robotic arm, implement kinematics and dynamics analysis, present different cable-driven designs and evaluate their merits and drawbacks. Since this is a redundant mechanism, kinematics optimization is used to avoid joint limits, singularities and obstacles. Cable kinematics analysis studies the relationships between cable length and the end-effector pose. This is a design modified from the literature. Several new designs are compared in pseudostatics analysis of the arm and a favorable design is suggested in terms of motion range and the cable tensions. Linear programming is used to optimize cable tensions. Dynamics analysis shows that the energy consumption of a cable-driven arm is much less than that of traditional motor-driven arm. Cable-driven robots have potential benefits but also some limitations.

Copyright © 2011 by ASME
Topics: Cables , Robotics

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