This paper proposes a novel modular cable-driven humanoid arm with anti-parallelogram mechanisms(APMs)and Bowden cables.The lightweight arm realizes the advantage of joint independence and the rational layout of the d...This paper proposes a novel modular cable-driven humanoid arm with anti-parallelogram mechanisms(APMs)and Bowden cables.The lightweight arm realizes the advantage of joint independence and the rational layout of the driving units on the base.First,this paper analyzes the kinematic performance of the APM and uses the rolling motion between two ellipses to approximate a pure-circular-rolling motion.Then,a novel type of one-degree-of-freedom(1-DOF)elbow joint is proposed based on this principle,which is also applied to design the 3-DOF wrist and shoulder joints.Next,Bowden cables are used to connect the joints and their driving units to obtain a modular cable-driven arm with excellent joint independence.After that,both the forward and inverse kinematics of the entire arm are analyzed.Last,a humanoid arm prototype was developed,and the assembly velocity,joint motion performance,joint stiffness,load carrying,typical humanoid arm movements,and repeatability were tested to verify the arm performance.展开更多
基金supported by the National Natural Science Foundation of China (Grant Nos.51905105 and 51975126)the Natural Science Foundation of Guangdong Province,China (Grant No.2020A1515011262)+2 种基金the Program for Guangdong Yangfan Innovative and Entrepreneurial Teams,China (Grant No.2017YT05G026)the Young Elite Scientists Sponsorship Program by CAST,China (Grant No.2021QNRC001)the Fund of Science and Technology Innovation and Cultivation for Guangdong Undergraduates,China (Grant No.pdjh2021b0157).
文摘This paper proposes a novel modular cable-driven humanoid arm with anti-parallelogram mechanisms(APMs)and Bowden cables.The lightweight arm realizes the advantage of joint independence and the rational layout of the driving units on the base.First,this paper analyzes the kinematic performance of the APM and uses the rolling motion between two ellipses to approximate a pure-circular-rolling motion.Then,a novel type of one-degree-of-freedom(1-DOF)elbow joint is proposed based on this principle,which is also applied to design the 3-DOF wrist and shoulder joints.Next,Bowden cables are used to connect the joints and their driving units to obtain a modular cable-driven arm with excellent joint independence.After that,both the forward and inverse kinematics of the entire arm are analyzed.Last,a humanoid arm prototype was developed,and the assembly velocity,joint motion performance,joint stiffness,load carrying,typical humanoid arm movements,and repeatability were tested to verify the arm performance.
