Design, Modeling, and Kinematics Analysis of a Modular Cable-Driven Manipulator

Author:

Ju Renjie1,Zhang Dong1,Xu Jiakai1,Yuan Hao1,Miao Zhiwen1,Zhou Mengchu2,Cao Zhengcai1

Affiliation:

1. College of Information Science and Technology, Beijing University of Chemical Technology Department of Automation, , Beijing 100029 , China

2. New Jersey Institute of Technology Department of Electrical and Computer Engineering, , Newark, NJ 07102

Abstract

Abstract Modular manipulators have broad application prospects in the field of narrow confined space owing to their characteristics of superior dexterity. However, compared with traditional ones, their mechanism design, modeling, and inverse kinematics (IK) are challenging due to their special structures and redundant degrees-of-freedom. In this paper, a modular cable-driven manipulator (CDM) is designed. A lightweight and expandable structure is proposed to reduce weight of the whole manipulator and improve its environmental adaptability. To calibrate its global posture, angle sensors are equipped with its joints. Its kinematics are rigorously analyzed. To obtain the IK of a hyper-redundant CDM in real-time, a fast heuristic method with adaptive joint constraints is introduced. Then, a segmented IK strategy is proposed by extending the IK solver to local CDM, which realizes the local joint migration motion under the stable overall configuration. Finally, numerical simulations are conducted and a physical prototype is developed to carry out experiments. The results show that the designed CDM has great performance in dexterity and accuracy.

Funder

Beijing Municipal Natural Science Foundation

China Postdoctoral Science Foundation

National Natural Science Foundation of China

Publisher

ASME International

Subject

Mechanical Engineering

Reference34 articles.

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