Design and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints

In most of the prior designs of conventional cable-driven hyper-redundant robots, the multiple degree-of-freedom (DOF) bending motion usually has bending coupling effects. It means that the rotation output of each DOF is controlled by multiple pairs of cable inputs. The bending coupling effect will...

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Autores principales:	Long Huang, Bei Liu, Lairong Yin, Peng Zeng, Yuanhan Yang
Formato:	article
Lenguaje:	EN
Publicado:	Hindawi Limited 2021
Materias:	Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/51bf017dee8f45cd9819168575668e3a
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spelling	oai:doaj.org-article:51bf017dee8f45cd9819168575668e3a2021-11-15T01:19:01ZDesign and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints1687-961910.1155/2021/5124816https://doaj.org/article/51bf017dee8f45cd9819168575668e3a2021-01-01T00:00:00Zhttp://dx.doi.org/10.1155/2021/5124816https://doaj.org/toc/1687-9619In most of the prior designs of conventional cable-driven hyper-redundant robots, the multiple degree-of-freedom (DOF) bending motion usually has bending coupling effects. It means that the rotation output of each DOF is controlled by multiple pairs of cable inputs. The bending coupling effect will increase the complexity of the driving mechanism and the risk of slack in the driving cables. To address these problems, a novel 2-DOF decoupled joint is proposed by adjusting the axes distribution of the universal joints. Based on the decoupled joint, a 4-DOF hyper-redundant robot with two segments is developed. The kinematic model of the robot is established, and the workspace is analyzed. To simplify the driving mechanism, a kinematic fitting approach is presented for both proximal and distal segments and the mapping between the actuator space and the joint space is significantly simplified. It also leads to the simplification of the driving mechanism and the control system. Furthermore, the cable-driven hyper-redundant robot prototype with multiple decoupled joints is established. The experiments on the robot prototype verify the advantages of the design.Long HuangBei LiuLairong YinPeng ZengYuanhan YangHindawi LimitedarticleMechanical engineering and machineryTJ1-1570ENJournal of Robotics, Vol 2021 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Mechanical engineering and machinery TJ1-1570
spellingShingle	Mechanical engineering and machinery TJ1-1570 Long Huang Bei Liu Lairong Yin Peng Zeng Yuanhan Yang Design and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints
description	In most of the prior designs of conventional cable-driven hyper-redundant robots, the multiple degree-of-freedom (DOF) bending motion usually has bending coupling effects. It means that the rotation output of each DOF is controlled by multiple pairs of cable inputs. The bending coupling effect will increase the complexity of the driving mechanism and the risk of slack in the driving cables. To address these problems, a novel 2-DOF decoupled joint is proposed by adjusting the axes distribution of the universal joints. Based on the decoupled joint, a 4-DOF hyper-redundant robot with two segments is developed. The kinematic model of the robot is established, and the workspace is analyzed. To simplify the driving mechanism, a kinematic fitting approach is presented for both proximal and distal segments and the mapping between the actuator space and the joint space is significantly simplified. It also leads to the simplification of the driving mechanism and the control system. Furthermore, the cable-driven hyper-redundant robot prototype with multiple decoupled joints is established. The experiments on the robot prototype verify the advantages of the design.
format	article
author	Long Huang Bei Liu Lairong Yin Peng Zeng Yuanhan Yang
author_facet	Long Huang Bei Liu Lairong Yin Peng Zeng Yuanhan Yang
author_sort	Long Huang
title	Design and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints
title_short	Design and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints
title_full	Design and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints
title_fullStr	Design and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints
title_full_unstemmed	Design and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints
title_sort	design and validation of a novel cable-driven hyper-redundant robot based on decoupled joints
publisher	Hindawi Limited
publishDate	2021
url	https://doaj.org/article/51bf017dee8f45cd9819168575668e3a
work_keys_str_mv	AT longhuang designandvalidationofanovelcabledrivenhyperredundantrobotbasedondecoupledjoints AT beiliu designandvalidationofanovelcabledrivenhyperredundantrobotbasedondecoupledjoints AT lairongyin designandvalidationofanovelcabledrivenhyperredundantrobotbasedondecoupledjoints AT pengzeng designandvalidationofanovelcabledrivenhyperredundantrobotbasedondecoupledjoints AT yuanhanyang designandvalidationofanovelcabledrivenhyperredundantrobotbasedondecoupledjoints
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Design and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints

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