Tension research of a cable-driven biomimetic shoulder robot

In cable-driven 3-DOF (Degree of Freedom) robot, cable is only to be stretched but not compressed. It is significant to research the cable tension. It is easy to analyze assignment situation of cable tension by geometry. Tension coefficient is proposed as the appraisal for tension assignment. With tension coefficient distribution map, it has a direct-viewing understanding of tension workspace, then the effective tension assignment optimization algorithm is proposed; After discussion, it will obtain the smallest real-time computation preload force formula, thus it will guarantee that the cable tension is at tightens in every condition; Finally, with the prototype´s strength examination system the tension feedback experiment is taken, which will confirm above theory.