TY - GEN
T1 - Modular Design of a 7-DOF Cable-Driven Humanoid Arm
AU - Wang, Bin
AU - Zhang, Tao
AU - Guan, Yisheng
AU - Song, Yaowei
AU - Liang, Zhihao
AU - Chen, Jiazhen
AU - Xu, Wang
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2022
Y1 - 2022
N2 - This paper presents a 7-DOF lightweight modular cable-driven humanoid arm with separately distributed actuators and joint mechanisms. The traditional cable-driven manipulator with actuators arranged on the base has problems of cable coupling and poor joint independence. This work proposed a novel 1-DOF elbow mechanism based on an anti-parallelogram mechanism and expanded it to the 3-DOF wrist and shoulder joint. The proposed modular anthropomorphic arm, with a separate actuator and joint mechanism, allows each modular joint to be independently driven, and the arm assembly can be completed within 3 min without the need for rewinding. It effectively avoids the cable coupling between the joints by using Bowden cables as the medium of force and motion transmission between the actuator mechanism and joints, and the weight of the arm is reduced. A prototype was developed to validate the proposed method, which has a total mass of 1.672 kg, including the 1.239 kg weight of the moving parts. Experiments were conducted, and the test results show a good kinematic performance.
AB - This paper presents a 7-DOF lightweight modular cable-driven humanoid arm with separately distributed actuators and joint mechanisms. The traditional cable-driven manipulator with actuators arranged on the base has problems of cable coupling and poor joint independence. This work proposed a novel 1-DOF elbow mechanism based on an anti-parallelogram mechanism and expanded it to the 3-DOF wrist and shoulder joint. The proposed modular anthropomorphic arm, with a separate actuator and joint mechanism, allows each modular joint to be independently driven, and the arm assembly can be completed within 3 min without the need for rewinding. It effectively avoids the cable coupling between the joints by using Bowden cables as the medium of force and motion transmission between the actuator mechanism and joints, and the weight of the arm is reduced. A prototype was developed to validate the proposed method, which has a total mass of 1.672 kg, including the 1.239 kg weight of the moving parts. Experiments were conducted, and the test results show a good kinematic performance.
KW - Cable-driven
KW - Modular design
KW - Robotic arm
UR - https://www.scopus.com/pages/publications/85127852284
U2 - 10.1007/978-981-16-7381-8_112
DO - 10.1007/978-981-16-7381-8_112
M3 - 会议稿件
AN - SCOPUS:85127852284
SN - 9789811673801
T3 - Mechanisms and Machine Science
SP - 1793
EP - 1806
BT - Advances in Mechanical Design - Proceedings of the 2021 International Conference on Mechanical Design, ICMD 2021
A2 - Tan, Jianrong
PB - Springer Science and Business Media B.V.
T2 - International Conference on Mechanical Design, ICMD 2021
Y2 - 11 August 2021 through 13 August 2021
ER -