Kinematic analysis of a cable-driven 7-DOF robotic arm based on tensegrity joints

Xianjian Cao; Yihang Wang; Xin Li; Shaonan Deng; Jingfeng He

doi:10.1117/12.3007394

25 October 2023 Kinematic analysis of a cable-driven 7-DOF robotic arm based on tensegrity joints

Xianjian Cao, Yihang Wang, Xin Li, Shaonan Deng, Jingfeng He

Proceedings Volume 12801, Ninth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2023); 128013T (2023) https://doi.org/10.1117/12.3007394
Event: Ninth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2023), 2023, Dalian, China

Abstract

In this paper, we propose a cable-driven 7-DOF robotic arm based on tensegrity joints and derive its inverse kinematics. The inverse kinematics of this robotic arm can be determined with two steps. Firstly, by given the position and posture of the end of robotic arm, we represent the angle of the ideal joints with the arm angle. Secondly, with the help of the homogeneous transformation matrix and the closed-vector relationship, the active cables length of each joint which is the inverse kinematic solution are calculated. Simulations and experiments are conducted to verify the validity of the proposed inverse kinematics method.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Xianjian Cao, Yihang Wang, Xin Li, Shaonan Deng, and Jingfeng He "Kinematic analysis of a cable-driven 7-DOF robotic arm based on tensegrity joints", Proc. SPIE 12801, Ninth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2023), 128013T (25 October 2023); https://doi.org/10.1117/12.3007394

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