Modular Cable-Driven Robotic Arms for Intrinsically Safe Manipulation

Modular Cable-Driven Robotic Arms for Intrinsically Safe Manipulation

Wen Bin Lim (Nanyang Technological University, Singapore), Guilin Yang (Singapore Institute of Manufacturing Technology, Singapore), Song Huat Yeo (Nanyang Technological University, Singapore) and Shabbir Kurbanhusen Mustafa (Singapore Institute of Manufacturing Technology, Singapore)
Copyright: © 2012 |Pages: 21
DOI: 10.4018/978-1-4666-0291-5.ch015
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Abstract

A Cable-Driven Robotic Arm (CDRA) possesses a number of advantages over the conventional articulated robotic arms, such as lightweight mechanical structure, high payload, fault tolerance, and most importantly, safe manipulation in the human environment. As such, a mobile manipulator that consists of a mobile base and a CDRA can be a promising assistive robot for the aging or disabled people to perform necessary tasks in their daily life. For such applications, a CDRA is a dexterous manipulator that consists of a number of cable-driven joint modules. In this chapter, a modular design concept is employed in order to simplify design, analysis, and control of CDRA to a manageable level. In particular, a 2-DOF cable-driven joint module is proposed as the basic building block of a CDRA. The critical design analysis issues pertaining to the kinematics analysis, tension analysis, and workspace-based design optimization of the 2-DOF cable-driven joint module are discussed. As a modular CDRA can be constructed into various configurations, a configuration-independent kinematic modeling approach based on the Product-of-Exponentials (POE) formula is proposed. The effectiveness of the proposed design analysis algorithms are demonstrated through simulation examples.
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Cable-Driven Universal Joint (Cduj) Module

In this article, a 2-DOF Cable-Driven Universal Joint (CDUJ) module is proposed as the basic building block of the CDRA. The CDUJ module is a cable-driven mechanism in which the moving platform is connected to the base via a passive universal joint as shown in Figure 1.

Figure 1.

Cable-driven universal joint (CDUJ) module

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