SIMULATION ANALYSIS OF CABLE-DRIVEN ROLLING JOINT FOR HUMANOID ROBOT VIA ADAMS

This study introduces a novel anthropomorphic cable-driven rolling joint structure that can achieve bidirectional motion using a single motor. A specific cable system configuration is designed, and an experimental platform is constructed. To ensure the safety of the cable-driven rolling joint and facilitate the exploration of cable tension dynamics, Adams software is employed for modeling and simulation of the joint. The simulation results are validated against experimental data obtained from the physical platform. By comparing the motion effects of two winch drive simulation methods-the winch function and the large disk winding method-while varying the joint angle over time, consistent behavior is observed. Additionally, the tension changes in the upper and lower cable systems are analyzed as the joint angle varies. Despite minor deviations caused by cable deformation and pulley friction at extreme joint positions, the Adams simulations align well with the experimental observations. Notably, the simulation accurately captures the trend of cable tension relative to joint angle, demonstrating Adams' efficacy as a powerful tool for analyzing and optimizing cable-actuated rolling joints.