Forward kinematics and workspace analysis for a 7-DOF cable-driven humanoid arm

被引：8

作者：

Chen, Weihai ^{[1
]}

Chen, Quanzhu ^{[2
]}

Zhang, Jianbin ^{[2
]}

Yu, Shouqian ^{[1
]}

机构：

[1] Beijing Univ Aeronaut & Astronaut, Sch Automat Sci & Elect Engn, Beijing 100083, Peoples R China

[2] Beijing Univ Aeronaut & Astronaut, Sch Mech Engn & Automat, Beijing 100083, Peoples R China

来源：

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3 | 2006年

关键词：

cable-driven; redurdant kinematics; parallel mechanism;

D O I：

10.1109/ROBIO.2006.340095

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：1175 / +

页数：2

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