2007, 33(01): 94-99.
Abstract:
To improve the load capacity of the manipulator, based on the geometry analysis and screw theory, the configuration design, c able-driven manner, and kinematics control for a cable-driven humanoid-arm ma nipulator were analysed. Firstly, aiming at the choice of cables-driven manner s, a cable-driven me chanism that is coupled between elbow and wrist, and between shoulder and elbow was designed. Secondly, taking the 7-DOF joints such as the shoulder, elbow and w rist as medium, the relationship between the end-effector and driven cables was a nalyzed, i.e. through considering the relationship among the end-effector′s po se and joint angles firstly for the manipulator, and then considering the relation ship among joint angles and corresponding length of cables, the kinematics of ca ble-driven manipulator can be solved. Lastly the simulation was realized. The s im ulation results show that the curves of manipulator′s joint angles and length o f cables are very smooth, and the error between actual trajectory and ideal traje ctory of the end-effector is very small. These prove that the proposed algorith m is correct, the cable-driven manipulator runs well, and proposed approach can e ffectively overcome the negative effects from general robot brought by its deadw eight.