Cable-driven underactuated manipulators have attracted increasing attention for their characteristics of slender structures, high flexibility, and potential in miniaturization as well as modulization. This paper presents a cable-driven underactuated manipulator, characterized by the locking devices utilizing the principle of force amplification near the dead point position of the crank slider mechanism, and the double-direction threading strategy matching the locking devices. This manipulator has the potential in locking reliability and actuation efficiency. The driving strategy is proposed to realize the actuation of each section on the manipulator. Besides, the static analysis is conducted to achieve the force born by the cables and the friction applied by the locking devices, which are closely related to the performance of the manipulator. Finally, the verification tests are conducted on the prototype of a cable-driven underactuated manipulator composed of four sections, and exhibit the validity of the proposed structural design and driving strategy. This work provides candidates of slender manipulators expected for tasks under complex environments.
Structural Design and Static Analysis of a Cable-Driven Underactuated Manipulator with Locking Devices
Mechan. Machine Science
IFToMM World Congress on Mechanism and Machine Science ; 2023 ; Tokyo, Japan November 05, 2023 - November 10, 2023
05.11.2023
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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