Proceedings ArticleDOI
Kinematic design of a 7-DOF cable-driven humanoid arm: a solution-in-nature approach
Guilin Yang,Wei Lin,Cong Pham,Song Huat Yeo +3 more
- pp 444-449
TLDR
A solution-in-nature approach has been adopted in the design of a 7-DOF humanoid robotic arm and an effective cable-tension analysis algorithm is proposed in light of the analysis method for force-closure grasps.Abstract:
A solution-in-nature approach has been adopted in the design of a 7-DOF humanoid robotic arm. Similar to a human arm, the proposed robotic arm consists of three sequentially connected modules, i.e., a 3-DOF shoulder module, a 1-DOF elbow module, and a 3-DOF wrist module. To mimic the driving scheme of the human arm, all of the three arm modules are driven by cables which are functionally equivalent to human muscles (can pull but cannot push). Such a robotic arm has the advantages of light weight, high dexterity, and large reachable workspace. Hence, it can be an ideal versatile arm for various service robots to perform human-like operations. Two critical design analysis issues, i.e., displacement analysis and cable-tension analysis are addressed in more details. The closed form solution is derived for the forward displacement analysis, while the inverse displacement solution is obtained through an optimization technique. An effective cable-tension analysis algorithm is proposed in light of the analysis method for force-closure grasps.read more
Citations
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Journal ArticleDOI
Self-Calibration of a Biologically Inspired 7 DOF Cable-Driven Robotic Arm
TL;DR: In this paper, a biologically inspired 7 DOF cable-driven robotic arm is presented, which consists of three sequentially connected modules, and an iterative least squares algorithm is employed to identify the errors in the geometric model parameters.
Proceedings ArticleDOI
Dynamics and control of a 4-dof wearable cable-driven upper arm exoskeleton
TL;DR: The dynamics, control, and preliminary experiments on a wearable upper arm exoskeleton intended for human users with four degrees-of-freedom (dof), driven by six cables are presented.
Journal ArticleDOI
Wrench-Closure Workspace Generation for Cable Driven Parallel Manipulators Using a Hybrid Analytical-Numerical Approach
TL;DR: In this article, a hybrid approach combining the high accuracy of the analytical approach and the algorithmic versatility of the numerical approach is proposed to generate the wrench-closure workspace for general case completely restrained cable driven parallel mechanisms.
Journal ArticleDOI
Theoretical and experimental determination of capstan drive slip error
Ozgur Baser,E. Ilhan Konukseven +1 more
TL;DR: In this article, an analytical method is developed for predicting the transmission error of capstan drives due to cable slippage on the drum so that designers can include this in the control phase of devices.
Journal ArticleDOI
A method of verifying force-closure condition for general cable manipulators with seven cables
Xiumin Diao,Ou Ma +1 more
TL;DR: In this article, a systematic method of verifying the force-closure condition for general 6-DOF cable-driven manipulators with seven cables is presented, which is defined as that the inverse dynamics problem has a feasible solution for any external wrench exerted on the end effector.
References
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Book
A Mathematical Introduction to Robotic Manipulation
TL;DR: In this paper, the authors present a detailed overview of the history of multifingered hands and dextrous manipulation, and present a mathematical model for steerable and non-driveable hands.
Journal ArticleDOI
The position of the rotation center of the glenohumeral joint.
H.E.J. Veeger,H.E.J. Veeger +1 more
TL;DR: It is concluded that the method to estimate the GH center of rotation as the center of a sphere through the glenoid surface, with the radius of the humeral head, appears to be valid.
Proceedings ArticleDOI
Human-like motion of a humanoid robot arm based on a closed-form solution of the inverse kinematics problem
Tamim Asfour,Rüdiger Dillmann +1 more
TL;DR: An algorithm for solving the inverse kinematics problem associated with the redundant robot arm of the humanoid robot ARMAR is proposed and is characterized by its accuracy and low cost of computation.
Journal ArticleDOI
A humanoid shoulder complex and the humeral pointing kinematics
Jadran Lenarčič,M. M. Stanišić +1 more
TL;DR: This paper presents a humanoid robotic shoulder complex and the kinematics of humanoid humeral pointing as performed by this complex, which is composed of a parallel mechanism which serves as the innermost shoulder girdle and a serial mechanism which serving as the outermost spherical glenohumeral joint.