NDLI: Stiffness analysis and optimization of a novel cable-driven anthropomorphic-arm manipulator

Content Provider	IEEE Xplore Digital Library
Author	Jingyuan Chen Weihai Chen Cun Hu Quanzhu Chen
Copyright Year	2012
Description	Author affiliation: China Satellite Maritime Tracking and Control Department, Jiangsu, P.R. China (Cun Hu) \|\| School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing, P.R. China (Jingyuan Chen; Weihai Chen; Quanzhu Chen)
Abstract	The novel cable-driven anthropomorphic-arm manipulator (CDAM) mentioned in this paper is a 7-DOF hybrid redundant mechanism which fuse the advantages of redundant manipulator and cable-driven mechanism. This paper focuses on the stiffness of the CDAM and gives the Cartesian stiffness matrix calculation process. The process can be divided into three steps: firstly, the calculation of the stiffness of shoulder and wrist which are both four-cable-driven parallel mechanism; secondly, the stiffness in elbow which is a cable-driven single joint; lastly, by merging the wrist, elbow and shoulder stiffness to the joint stiffness matrix, the modified conservative congruence transformation (CCT) is used to get the solution of Cartesian stiffness matrix of CDAM. Base on the stiffness analysis of CDAM, a stiffness optimal algorithm is proposed to enhance the stiffness in motion and the simulation and experiment proves the effectiveness of this algorithm.
Starting Page	746
Ending Page	751
File Size	299942
Page Count	6
File Format	PDF
ISBN	9781467303125
e-ISBN	9781467303118
DOI	10.1109/INDIN.2012.6301207
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wrist Actuators Shoulder Manipulators Joints Elbow Optimization
Content Type	Text
Resource Type	Article

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