Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

doi:10.1007/s11465-011-0205-3

Front Mech Eng

2011, Vol. 6

Issue (1) : 45-60 https://doi.org/10.1007/s11465-011-0205-3

RESEARCH ARTICLE

Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Guilin YANG¹(

), Shabbir Kurbanhusen MUSTAFA¹, Song Huat YEO², Wei LIN¹, Wen Bin LIM²

1. Mechatronics Group, Singapore Institute of Manufacturing Technology, Singapore, Singapore; 2. School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore

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Abstract

In this paper, an anthropomimetic design of a 7-DOF dexterous robotic arm is proposed. Similar to the human arm, the 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. All three arm modules are also driven by cables in order to mimic the driving scheme and functionality of the human muscles. This paper addresses three critical design analysis issues, i.e., the displacement analysis, the tension-closure analysis, and the workspace analysis. A closed-form solution approach is presented for the forward displacement analysis, while the inverse displacement solution is obtained through an efficient optimization algorithm, in which both task-decomposition and dimension-reduction techniques are employed. An effective tension-closure analysis algorithm is also formulated based on the theory of convex analysis. The orientation workspace for the 3-DOF shoulder and wrist modules are then analyzed using a new equi-volumetric partition scheme based on the intuitive Tilt-and-Torsion angle parameterization. An optimization approach is then investigated for the kinematic design of the three joint modules, in which the design objective is to maximize the matched workspace of the robotic arm joints with that of the human arm joints. A research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrate the anthropomimetic design concept. With a lightweight structure of 1 kg, the cable-driven robotic arm can carry a payload of 5 kg and has motion repeatability of±2.5mm.

Keywords anthropomimetic design robotic arm cable-driven mechanism kinematic analysis design optimization

Corresponding Author(s): YANG Guilin,Email:glyang@simtech.a-star.edu.sg

Issue Date: 05 March 2011

Cite this article:

Guilin YANG,Shabbir Kurbanhusen MUSTAFA,Song Huat YEO, et al. Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm[J]. Front Mech Eng, 2011, 6(1): 45-60.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-011-0205-3
https://academic.hep.com.cn/fme/EN/Y2011/V6/I1/45

Fig.1 Conceptual design of the 7-DOF cable driven robotic arm

Fig.2 Possible cable arrangement of the 3-DOF shoulder module

Fig.3 (a) 3-DOF shoulder/wrist module; (b) 1-DOF elbow module

Fig.4 Schematic diagram of the cable driven robotic arm

Fig.5 Schematic diagram of the 1-DOF elbow module

Fig.6 Inverse displacement analysis of the cable driven robotic arm

Fig.7 Inverse displacement analysis for Step 1

Fig.8 Kinetostatic equilibrium of the 3-DOF spherical joint module

Fig.9 Coordinate frames of the elbow joint. (a) Initial frame; (b) moving frame

Fig.10 Tilt-&-Torsion angles representation []

Fig.11 Coordinate frames attached to the shoulder joint. (a) Initial frame; (b) moving frame

Fig.12 Coordinate frames attached to the wrist joint. (a) Initial frame; (b) moving frame

Fig.13 Equi-volumetric partition of a solid cylinder. (a) 3D view of cylindrical workspace; (b) division scheme of circular disc; (c) division scheme of circular band in disc; (d) element in the cylindrical workspace

Fig.14 Workspace of the human shoulder joint. (a) Cross-section of the right shoulder joint workspace; (b) corresponding regions in the Cartesian task space at

Fig.15 Workspace of the human wrist joint. (a) Cross-section of the right wrist joint workspace; (b) corresponding regions in the Cartesian task space at

Fig.16 Optimized two-cable 2-2 configuration elbow module

Fig.17 (a) Design variables of the 3-3 six-cable shoulder and wrist modules; (b) optimized cylindrical workspace plot of shoulder module; (c) optimized cylindrical workspace plot of wrist module

Fig.18 Prototype of the 7-DOF cable-driven robotic arm

Fig.19 Prototype components. (a) Flat-wire spiral tube; (b) delrin insert

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