Low-Cost Cable-Driven Robot Arm with Low-Inertia Movement and Long-Term Cable Durability
Van Pho Nguyen,
Wai Tuck Chow,
Sunil Bohra Dhyan
et al.
Abstract:Our study presents a novel design for a cable-driven robotic arm, emphasizing low cost, low inertia movement, and long-term cable durability. The robotic arm shares similar specifications with the UR5 robotic arm, featuring a total of six degrees of freedom (DOF) distributed in a 1:1:1:3 ratio at the arm base, shoulder, elbow, and wrist, respectively. The three DOF at the wrist joints are driven by a cable system, with heavy motors relocated from the end-effector to the shoulder base. This repositioning result… Show more
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