Highly Dynamic 2-DOF Cable-Driven Robotic Wrist based on a Novel Topology

Nemoto T, Walter J, Bachmann C, Gerlich M, Reitelshöfer S, Franke J (2022)

Publication Type: Journal article

Publication year: 2022

Journal

IEEE Robotics and Automation Letters IEEE

Pages Range: 1-1

DOI: 10.1109/LRA.2022.3159816

Abstract

This paper presents a highly dynamic cable-driven robotic wrist with two degrees of freedom (DOFs). It is based on a novel topology that combines three passive cables for kinematic constraint and the minimal number of active cables for the full control of a movable platform in two rotational DOFs. For a certain geometry of the wrist, the workspace is analyzed using the structure matrix. To control the motion of the wrist, the use of an inertial measurement unit is proposed to directly estimate the orientation and angular velocity, contrarily to the majority of previous cable-driven mechanisms whose control relies on the forward kinematics. Based on the measured data, a standard cascaded controller calculates target torques about two fixed axes of rotation, which are converted into target tensions for the three active cables by the existing closed-form solution. The proposed concept is validated with a hardware prototype. A quasi-static experiment shows that the wrist covers a workspace of up to 55 about both rotation axes. Highly dynamic rotations are demonstrated by step responses with an angular velocity of up to 700/s.

Authors with CRIS profile

Jonas Walter Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik Sebastian Reitelshöfer Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik Jörg Franke Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik

Involved external institutions

Siemens AG, Energy Service Division / Energy Sector DE Germany (DE) Siemens AG DE Germany (DE)

How to cite

APA:

Nemoto, T., Walter, J., Bachmann, C., Gerlich, M., Reitelshöfer, S., & Franke, J. (2022). Highly Dynamic 2-DOF Cable-Driven Robotic Wrist based on a Novel Topology. IEEE Robotics and Automation Letters, 1-1. https://dx.doi.org/10.1109/LRA.2022.3159816

MLA:

Nemoto, Takeru, et al. "Highly Dynamic 2-DOF Cable-Driven Robotic Wrist based on a Novel Topology." IEEE Robotics and Automation Letters (2022): 1-1.

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