Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism

Yang, Kaisheng; Yang, Guilin; Chen, Chin-Yin; Wang, Yi; Zhang, Chi; Fang, Zaojun; Zheng, Tianjiang; Wang, Chongchong

doi:10.3390/sym11091158

Cited by 10 publications

(6 citation statements)

References 38 publications

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“…Cable-driven transmission in the literature of mechanics can refer to more than one type of mechanical transmission [37,38]. In this paper, two types of cable transmission are used, namely pulley-cable transmission [39] and Bowden cable transmission [40].…”

Section: Cable Drive Transmissionmentioning

confidence: 99%

Preliminary Results in Testing of a Novel Asymmetric Underactuated Robotic Hand Exoskeleton for Motor Impairment Rehabilitation

et al. 2020

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Robotic exoskeletons are a trending topic in both robotics and rehabilitation therapy. The research presented in this paper is a summary of robotic exoskeleton development and testing for a human hand, having application in motor rehabilitation treatment. The mechanical design of the robotic hand exoskeleton implements a novel asymmetric underactuated system and takes into consideration a number of advantages and disadvantages that arose in the literature in previous mechanical design, regarding hand exoskeleton design and also aspects related to the symmetric and asymmetric geometry and behavior of the biological hand. The technology used for the manufacturing and prototyping of the mechanical design is 3D printing. A comprehensive study of the exoskeleton has been done with and without the wearer’s hand in the exoskeleton, where multiple feedback sources are used to determine symmetric and asymmetric behaviors related to torque, position, trajectory, and laws of motion. Observations collected during the experimental testing proved to be valuable information in the field of augmenting the human body with robotic devices.

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Section: Cable Drive Transmissionmentioning

confidence: 99%

Preliminary Results in Testing of a Novel Asymmetric Underactuated Robotic Hand Exoskeleton for Motor Impairment Rehabilitation

et al. 2020

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“…With this method, the desired stiffness cannot be achieved accurately. In [29], the SCTD problem of a 3-DOF cable-driven spherical mechanism was studied and it established the optimization model with all entries of the stiffness matrix, not only the determinant of the stiffness matrix. However, it employed the conventional stiffness model of the CDM, which was derived by the conventional differential formula of the load to the displacement.…”

Section: Shouldermentioning

confidence: 99%

Cable Tension Analysis Oriented the Enhanced Stiffness of a 3-DOF Joint Module of a Modular Cable-Driven Human-Like Robotic Arm

Yang

Zhang

et al. 2020

Applied Sciences

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Inspired by the structure of human arms, a modular cable-driven human-like robotic arm (CHRA) is developed for safe human–robot interaction. Due to the unilateral driving properties of the cables, the CHRA is redundantly actuated and its stiffness can be adjusted by regulating the cable tensions. Since the trajectory of the 3-DOF joint module (3DJM) of the CHRA is a curve on Lie group SO(3), an enhanced stiffness model of the 3DJM is established by the covariant derivative of the load to the displacement on SO(3). In this paper, we focus on analyzing the how cable tension distribution problem oriented the enhanced stiffness of the 3DJM of the CHRA for stiffness adjustment. Due to the complexity of the enhanced stiffness model, it is difficult to solve the cable tensions from the desired stiffness analytically. The problem of stiffness-oriented cable tension distribution (SCTD) is formulated as a nonlinear optimization model. The optimization model is simplified using the symmetry of the enhanced stiffness model, the rank of the Jacobian matrix and the equilibrium equation of the 3DJM. Since the objective function is too complicated to compute the gradient, a method based on the genetic algorithm is proposed for solving this optimization problem, which only utilizes the objective function values. A comprehensive simulation is carried out to validate the effectiveness of the proposed method.

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“…Gravagne et al [12] studied a class of cable-driven robot manipulators termed continuum robots such as the Clemson tentacle manipulator, consisting of two independent sections on a continuous backbone with a thin elastic rod. Yang et al [13] developed a symmetrical 6-cable-driven spherical joint module for modular manipulators, with three cables regulating stiffness and the others simultaneously regulating position. Li et al [14] proposed a wire-driven multi-section flexible robot, consisting of three sections made up of several identical vertebras, that were articulated by both spherical joints and a flexible backbone.…”

Section: Introductionmentioning

confidence: 99%

A Pneumatic Generator Based on Gas-Liquid Reversible Transition for Soft Robots

et al. 2021

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The soft robots actuated by pressure, cables, thermal, electrosorption, combustion and smart materials are usually faced with the problems of poor portability, noise, weak load capacity, small deformation and high driving voltages. In this paper, a novel pneumatic generator for soft robots based on the gas-liquid reversible transition is proposed, which has the advantages of large output force, easy deformation, strong load capacity and high flexibility. The pressure of the pneumatic generator surges or drops flexibly through the reversible transformation between liquid and gas phase, making the soft actuator stretch or contract regularly, without external motors, compressors and pressure-regulating components. The gas-liquid reversible-transition actuation process is modeled to analyze its working mechanism and characteristics. The pressure during the pressurization stage increases linearly with a rate regulated by the heating power and gas volume. It decreases exponentially with the exponential term as a quadratic function of time at the fast depressurization stage, while with the exponential term as a linear function of time at the slow depressurization stage. The drop rate can be adjusted by changing the gas volume and cooling conditions. Furthermore, effectiveness has been verified through experiments of the prototype. The pressure reaches 25 bar with a rising rate of +3.935 bar/s when 5 mL weak electrolyte solution is heated at 800 W, and the maximum depressurization rate in air cooling is –3.796 bar/s. The soft finger actuated by the pneumatic generator can bend with an angular displacement of 67.5°. The proposed pneumatic generator shows great potential to be used for the structure, driving and sensing integration of artificial muscles.

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Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism

Cited by 10 publications

References 38 publications

Preliminary Results in Testing of a Novel Asymmetric Underactuated Robotic Hand Exoskeleton for Motor Impairment Rehabilitation

Preliminary Results in Testing of a Novel Asymmetric Underactuated Robotic Hand Exoskeleton for Motor Impairment Rehabilitation

Cable Tension Analysis Oriented the Enhanced Stiffness of a 3-DOF Joint Module of a Modular Cable-Driven Human-Like Robotic Arm

A Pneumatic Generator Based on Gas-Liquid Reversible Transition for Soft Robots

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