NDLI: Forward Kinematics and Workspace Analysis for a 7-DOF Cable-Driven Humanoid Arm

Content Provider	IEEE Xplore Digital Library
Author	Weihai Chen Quanzhu Chen Jianbin Zhang Shouqian Yu
Copyright Year	2006
Description	Author affiliation: Sch. of Autom. Sci. & Electr. Eng., Beijing Univ. of Aeronaut. & Astronaut., Beijing (Weihai Chen; Quanzhu Chen; Jianbin Zhang; Shouqian Yu)
Abstract	Cable-driven mechanisms have high load capacity. Motivating from the latest research results of humanoid-arm bionics and parallel manipulators, a novel design of cable-driven humanoid-arm, which combines the merits of cable-driven and parallel mechanism, is proposed. This paper introduces the specific structure of cable-driven humanoid-arm. The modes of cables distribution and the coupling among joints are also studied. With analysis of the four-cable approach to drive 3-DOF parallel mechanism, the relationships between cable lengths and joint angles is analyzed, the motion ranges of joint angles are also discussed. Based on the analysis above, forward kinematics and workspace of the manipulator are analyzed, the pose of end-effector relating to base frame is deduced. At last, according to three groups of kinematic solutions, a simulation by ADAMS is carried out to verify the effectiveness of proposed algorithms.
Starting Page	1175
Ending Page	1180
File Size	6287131
Page Count	6
File Format	PDF
ISBN	142440570X
DOI	10.1109/ROBIO.2006.340095
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-12-17
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Power cables Wrist Manipulators Shoulder Robotics and automation Anthropomorphism Elbow Robots Actuators parallel mechanism Cable-driven redundant kinematics
Content Type	Text
Resource Type	Article

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