Kinematic And Workspace Analysis Of Minimally Routed Cable Driven Open Chains

Ramadoss, Vishal; Zlatanov, Dimiter; Zoppi, Matteo

doi:10.1007/978-3-030-20131-9_281

Cited by 4 publications

(5 citation statements)

References 11 publications

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“…More recently, cable driven serial kinematic chains, which are devoid of actuators at the joints, but rather actuated by remote cables, have been considered in [1]. They are interesting solutions for a lightweight design with a large workspace, that also allows for interaction with the environment [2].…”

Section: Introductionmentioning

confidence: 99%

Optimal design and comparative study of two antagonistically actuated tensegrity joints

Muralidharan

Wenger

2021

Mechanism and Machine Theory

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This paper proposes design strategies and a comparative study of two antagonistically actuated tensegrity joints: a revolute (R) joint and an anti-parallelogram (X) joint. Geometrically, the R-joint has a fixed center of rotation while the X-joint has a moving center of rotation. Both joints are equipped with two lateral springs and are actuated by cables passing through these springs. Such tensegrity joints can be of interest for developing lightweight manipulators. They are designed to reach a prescribed wrench-feasible workspace (WFW) with a minimum desired stiffness throughout. The design strategy relies on the determination of the complete feasible design space for the problem, rather than resorting to a numerical optimizer for a particular solution. This approach provides more insight into the problem and also presents the designer with all the feasible designs. Several case studies are considered with different WFW specifications and design objectives for the R-and X-joints. The optimal designs obtained for the two joints are compared in terms of their actuation forces, stiffness, geometry, and mass.

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Section: Introductionmentioning

confidence: 99%

Optimal design and comparative study of two antagonistically actuated tensegrity joints

Muralidharan

Wenger

2021

Mechanism and Machine Theory

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“…The latter consist of a discrete number of joints, as in the musculoskeletal system of vertebrates. They can be more easily modelled and are still interesting solutions for designing dextrous manipulators [2,3]. Applications include environmentally interactive robots [4], robotic hands [5], exoskeletons [6], and other medical devices [7].…”

Section: Introductionmentioning

confidence: 99%

“…Cable-driven manipulators raise a number of difficulties, such as the choice of suitable routing strategies [3,23,2] and accounting for cable flexibility [24,25,26]. Moreover, the control of cable-driven manipulators is also a challenging task [27,28].…”

Section: Introductionmentioning

confidence: 99%

Identification and Control of a 3-X Cable-Driven Manipulator Inspired From the Bird’s Neck

Fasquelle

Khanna

Chevallereau

et al. 2021

Journal of Mechanisms and Robotics

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This paper is devoted to the control and identification of a manipulator with three anti-parallelogram joints in series, referred to as X-joints. Each X-joint is a tensegrity one-degree-of-freedom mechanism antagonistically actuated with cables and springs in parallel. As compared to manipulators built with simple revolute joints in series, manipulators with tensegrity X-joint offer a number of advantages, such as an intrinsic stability, variable stiffness and lower inertia. This design was inspired by the musculosleketon architecture of the bird neck, which is known to be very dextrous. A test-bed prototype is presented and used to test computed torque control laws. Friction and cable elasticity are modelled and identified. Their effect on the performance of control laws is analyzed. It is shown that in the context of antagonistic actuation and light weight design, friction plays a leading role and the significance of modelling cable elasticity is discussed

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“…In cable-driven parallel manipulators (which are not in the scope of this paper), cables are used in place of the legs of a parallel manipulator. In cable-driven serial manipulators, a serial kinematic chain made of rigid links and joints is actuated with a set of cables arranged in parallel [1]. They are interesting solutions when a light-weight design is required and/or physical interactions with the environment are involved.…”

Section: Introductionmentioning

confidence: 99%

“…Applications can be found in artificial hands [2], exoskeletons [3] or medical assistance devices. Like in classical robotic manipulators, revolute joints are generally used in cable-driven serial manipulators [1], [4]. In this paper, an antiparallelogram joint, referred to as X-joint, is considered as an alternative choice.…”

Section: Introductionmentioning

confidence: 99%

Static Analysis and Design Strategy of Two Antagonistically Actuated Joints

Muralidharan

Wenger

Furet

2020

New Trends in Mechanism and Machine Science

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This paper compares the static performances of two types of antagonistically actuated joints: a revolute (R) joint and an antiparallelogram (X) joint. Both joints are equipped with lateral springs and actuated with two opposite cables running through the springs. The comparative study is conducted on the basis of their wrench-feasible workspace and stiffness. A methodology is proposed for the optimal design of each joint. Eventually, an R-joint and an X-joint, optimized for the same prescribed wrench-feasible workspace, are compared on the basis of their maximal actuation forces.

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Kinematic And Workspace Analysis Of Minimally Routed Cable Driven Open Chains

Cited by 4 publications

References 11 publications

Optimal design and comparative study of two antagonistically actuated tensegrity joints

Optimal design and comparative study of two antagonistically actuated tensegrity joints

Identification and Control of a 3-X Cable-Driven Manipulator Inspired From the Bird’s Neck

Static Analysis and Design Strategy of Two Antagonistically Actuated Joints

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