Design and motion control of a cable-driven dexterous robotic arm

Lum, Guo Zhan; Mustafa, Shabbir Kurbanhusen; Lim, Hun-ok; Lim, Wen Bin; Yang, Guilin; Yeo, Song Huat

doi:10.1109/student.2010.5686997

Cited by 14 publications

(1 citation statement)

References 5 publications

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“…However, on the downside, each cable has to extend the entire length of the robot for effective control. Additionally, each DOF requires two cables (or a cable/spring combination), which would increase cable friction and the external diameter [ 7 , 8 , 9 , 10 ]. For medical applications, the ideal design can be obtained by an actuation system embedded inside the robot [ 11 ].…”

Section: Introductionmentioning

confidence: 99%

Design of a 2 DOFs Mini Hollow Joint Actuated with SMA Wires

Manfredi

Cuschieri

2018

Materials

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Shape memory alloys (SMAs) are smart materials used in robotics because of its light weight and high force-to-weight ratio. The low energy efficiency, up to 5%, has limited their use for large actuators. However, they have shown advantages in the design of mini-robots because of the limited volume required for the actuation system. The present study reports the design and construction of a mini compliant joint (MCJ) with a 2 degrees of freedom (DOFs) intersecting axis. The MCJ prototype has a 20 mm external diameter surrounding a cavity of 8 mm, weighs 2 g, is 20 mm high and can perform an angle rotation of 30∘ in less than 260 ms. It uses SMA NiTi wires in antagonistic configuration and springs to reduce the energy consumption and minimise heat production. The design methods and experimental results of the manufactured prototype are reported and discussed.

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