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Modular Cable-Driven Robotic Arms for Intrinsically Safe Manipulation

Modular Cable-Driven Robotic Arms for Intrinsically Safe Manipulation

Wen Bin Lim, Guilin Yang, Song Huat Yeo, Shabbir Kurbanhusen Mustafa
Copyright: © 2012 |Pages: 21
ISBN13: 9781466602915|ISBN10: 1466602910|EISBN13: 9781466602922
DOI: 10.4018/978-1-4666-0291-5.ch015
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MLA

Lim, Wen Bin, et al. "Modular Cable-Driven Robotic Arms for Intrinsically Safe Manipulation." Service Robots and Robotics: Design and Application, edited by Marco Ceccarelli, IGI Global, 2012, pp. 274-294. https://doi.org/10.4018/978-1-4666-0291-5.ch015

APA

Lim, W. B., Yang, G., Yeo, S. H., & Mustafa, S. K. (2012). Modular Cable-Driven Robotic Arms for Intrinsically Safe Manipulation. In M. Ceccarelli (Ed.), Service Robots and Robotics: Design and Application (pp. 274-294). IGI Global. https://doi.org/10.4018/978-1-4666-0291-5.ch015

Chicago

Lim, Wen Bin, et al. "Modular Cable-Driven Robotic Arms for Intrinsically Safe Manipulation." In Service Robots and Robotics: Design and Application, edited by Marco Ceccarelli, 274-294. Hershey, PA: IGI Global, 2012. https://doi.org/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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