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Volume 39 Issue 3
Mar.  2013
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Journal of Beijing University of Aeronautics and Astronautics  > 2013  >  39(3): 335-339.
Wang Guangjun, Fang Jiancheng. High precision interpolation algorithm for star pattern[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(05): 566-569. (in Chinese)
Citation: Chen Weihai, You Xianqiang, Cui Xiang, et al. Dynamics modeling and tension analysis for a cable-driven humanoid-arm robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(3): 335-339. (in Chinese)
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Dynamics modeling and tension analysis for a cable-driven humanoid-arm robot

  • School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • Received Date: 21 Feb 2012
  • Publish Date: 31 Mar 2013
    Abstract
  • Compared to the traditional robotic arm, the cable-driven humanoid-arm robot (CDHAR) similar to human muscles parallel drive mode is the hybrid structure of serial-parallel. However, the introduction of cables also increases the difficulty in dynamic analysis. CDHAR can be seen as a four-link serial mechanism including base, upper arm, forearm and end-effector, iteration Newton-Euler method was adopted to establish the recursive form of dynamics equation. Taking into account the redundant actuation and single-direction force for the cable, tension distribution algorithm based on the dynamic minimum pre-tightening force was proposed to calculate driving force of each cable. Compared to the method without conducting tension distribution or based on the static minimum pre-tightening force, the proposed algorithm can make the driving force of each cable real-time adjust by the dynamic minimum pre-tightening force and meet the rigidity requirement in different running condition.

     

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