Dynamic Analysis of Cable-Driven Humanoid Arm Based on Lagranges Equation
Human beings have flexible arms and legs that can ensure them conduct various challenging operations to work out daily requirements. Therefore, Humanoid mechanism design become hot research areas recently. To mimic the skeleton structure and driving scheme of a human arm, a 7-DOF cable-driven mechanism is determined to develop. Cable-driven mechanism allows actuators dont have to be placed on joints that makes it possesses several advantages such as low weight, high dexterity, and large reachable workspace compared with traditional configurations. The forward and inverse displacement analysis issues are conducted. In this paper, dynamic analysis of the cable-driven humanoid arm (CDHA) is conducted based on Lagranges method. The dynamic model is established by making use of twist-product-ofexponential formula and the cable tension distribution analysis is also addressed. At last, both the dynamic model and the algorithm are validated through several simulations in MATLAB.
Lagrangian dynamics Humanoid robot Cable-driven Screw theory
Jianhua Wang Xiang Cui Weihai Chen Yan Jin
Beihang University, Beijing, Peoples Republic of China Queens University Belfast, Belfast, UK
国际会议
天津
英文
619-628
2012-07-08（万方平台首次上网日期，不代表论文的发表时间）