Stiffness analysis Of 3-DOF spherical joint based on cable-driven humanoid arm

Author

Yang, Yangyi ; Chen, Weihai ; Wu, Xingming ; Chen, Quanzhu

Author_Institution

Sch. of Autom. & Electr. Eng., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China

fYear

2010

fDate

15-17 June 2010

Firstpage

99

Lastpage

103

Abstract

In this paper, the stiffness of 3-DOF (Degree of Freedom) spherical joint robot based on cable-driven humanoid arm is analyzed. By utilizing forward kinematics, the pose of the robot is realized. Then with the analysis of static, the torque balance relationship between cables is realized. On the basis of the analysis of pose and cable tension, the stiffness of 3-DOF spherical joint robot can be analyzed, which mainly includes two parts: the stiffness related to structural parameters and the stiffness related to cable tension. Finally, by utilizing software ADAMS, the numerical simulate is proposed. It concludes that: the stiffness of 3-DOF spherical joint robot is related to the robot pose, cable stiffness and cable tension. When the cable stiffness is low, by changing inner cable tension, it will change the stiffness of the robot. The research results will provide theoretical guidance to tension and stiffness control for robot.

Keywords

elastic constants; humanoid robots; manipulator kinematics; numerical analysis; 3-DOF spherical joint robot; ADAMS; cable driven humanoid arm; cable tension; numerical simulation; stiffness analysis; structural parameters; Cables; Humanoid robots; Kinematics; Manipulators; Parallel robots; Prototypes; Robotics and automation; Shoulder; Torque; Wires; Cable Tension Analysis; Cable-Driven; Pose Analysis; Spherical Joint; Stiffness Analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications (ICIEA), 2010 the 5th IEEE Conference on

Conference_Location

Taichung

Print_ISBN

978-1-4244-5045-9

Electronic_ISBN

978-1-4244-5046-6

Type

conf

DOI

10.1109/ICIEA.2010.5515021

Filename

5515021