TY - JOUR
T1 - Design, Modeling, and Kinematics Analysis of a Modular Cable-Driven Manipulator
AU - Ju, Renjie
AU - Zhang, Dong
AU - Yuan, Hao
AU - Miao, Zhiwen
AU - Zhou, Mengchu
AU - Cao, Zhengcai
N1 - Funding Information: This work was supported in part by the National Key Research and Development Program of China under Grant Number 2018YFB1304600, in part by the Beijing Leading Talents Program under Grant Number Z191100006119031, in part by the National Natural Science Foundation of China under Grant Number 52105005, in part by the Beijing Municipal Natural Science Foundation under Grant Number 3202022, and in part by the China Postdoctoral Science Foundation under Grant Number 2021M690320. Publisher Copyright: © 2022 by ASME.
PY - 2022/12/1
Y1 - 2022/12/1
N2 - Modular manipulators have broad application prospects in the field of narrow confined space owing to their characteristics of superior dexterity. However, compared with traditional ones, their mechanism design, modeling, and inverse kinematics (IK) are challenging due to their special structures and redundant degrees-of-freedom. In this paper, a modular cable-driven manipulator (CDM) is designed. A lightweight and expandable structure is proposed to reduce weight of the whole manipulator and improve its environmental adaptability. To calibrate its global posture, angle sensors are equipped with its joints. Its kinematics are rigorously analyzed. To obtain the IK of a hyper-redundant CDM in real-time, a fast heuristic method with adaptive joint constraints is introduced. Then, a segmented IK strategy is proposed by extending the IK solver to local CDM, which realizes the local joint migration motion under the stable overall configuration. Finally, numerical simulations are conducted and a physical prototype is developed to carry out experiments. The results show that the designed CDM has great performance in dexterity and accuracy.
AB - Modular manipulators have broad application prospects in the field of narrow confined space owing to their characteristics of superior dexterity. However, compared with traditional ones, their mechanism design, modeling, and inverse kinematics (IK) are challenging due to their special structures and redundant degrees-of-freedom. In this paper, a modular cable-driven manipulator (CDM) is designed. A lightweight and expandable structure is proposed to reduce weight of the whole manipulator and improve its environmental adaptability. To calibrate its global posture, angle sensors are equipped with its joints. Its kinematics are rigorously analyzed. To obtain the IK of a hyper-redundant CDM in real-time, a fast heuristic method with adaptive joint constraints is introduced. Then, a segmented IK strategy is proposed by extending the IK solver to local CDM, which realizes the local joint migration motion under the stable overall configuration. Finally, numerical simulations are conducted and a physical prototype is developed to carry out experiments. The results show that the designed CDM has great performance in dexterity and accuracy.
KW - Cable-driven manipulator
KW - Heuristic method
KW - Kinematics
KW - Mechanical design
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U2 - https://doi.org/10.1115/1.4054206
DO - https://doi.org/10.1115/1.4054206
M3 - Article
VL - 14
JO - Journal of Mechanisms and Robotics
JF - Journal of Mechanisms and Robotics
SN - 1942-4302
IS - 6
M1 - 064501
ER -