Design for a 5-DOF Cable-Driven Anthropomorphic Arm
In this paper, a motion control approach for a 5-DOF cable-driven manipulator is designed, and the mechanical structure design of this anthropomorphic-arm is introduced. For the 5-DOF manipulator, a hybrid algorithm is proposed to make the trajectory tracing of the manipulator in task space with high accuracy; the goals of the first phase of the robot arm have been meet. Although the method of motion control is limited in the current state, it serves as a strong foundation on which to test the performance and interface of the electronic components. The coupling cable lengths among the different joint modules are analyzed in detail.
Keywords: 5-DOF, Design, Anthropomorphic Arm
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ABOUT THE AUTHORS
Weihua Su
School of Mechanical Engineering, Tianjin University
Xudong Ren
Institute of Medical Equipment, Academy of Military Medical Sciences, Tianjin
Fu Niu
Institute of Medical Equipment, Academy of Military Medical Sciences
Zhiyuan Fu
Research Institute of South Sichuan Gas Field, South-West China Petroleum Branch Co.
Weihua Su
School of Mechanical Engineering, Tianjin University
Xudong Ren
Institute of Medical Equipment, Academy of Military Medical Sciences, Tianjin
Fu Niu
Institute of Medical Equipment, Academy of Military Medical Sciences
Zhiyuan Fu
Research Institute of South Sichuan Gas Field, South-West China Petroleum Branch Co.
