Dynamic Performance Limitations Due to Yielding in Cable-Driven Robotic Manipulators

Abstract

This paper presents a method for characterizing the performance limitations imposed by the yielding of the cables in systems with cable-driven transmissions. The method involves developing a rigid-body model of the system, where the cable tensions are considered as reaction forces. The kinematic coupling between links in the mechanism due to the use of cables is also considered. Here, the limitations on dynamic performance caused by cable yielding are added to the limitations caused by the bounds on actuator torque capacity, in order to give a more comprehensive description of the system’s capabilities. A two degrees-of-freedom planar mechanism is analyzed in order to illustrate the methodology.