Development of a Cable-Driven, Multiple Degree of Freedom, Flexible Robot Arm

Hyeong Chae Jeong; Han Kyul Lee; Yun Chae Na; Ji Yun Jeong; Soo Yeong Yi

doi:10.5302/J.ICROS.2022.21.0239

Development of a Cable-Driven, Multiple Degree of Freedom, Flexible Robot Arm

Hyeong Chae Jeong, Han Kyul Lee, Yun Chae Na, Ji Yun Jeong, Soo Yeong Yi

Dept. of Electrical and Information Engineering

Seoul National University of Science and Technology (SNUST)

Research output: Contribution to journal › Article › peer-review

Abstract

This report presents the development of a cable-driven hyper redundant flexible robot arm that has 10 joints with 20 degrees of freedom. The robot arm has the cable-driven mechanism for actuating each joint of the robot; instead of attaching the motors directly at each joints of the robot, the motors are deployed outside of the robot and the actuation force from the motors are transmitted by the flexible cables to each joint. The cable-driven mechanism makes the motion of the robot more flexible and dynamic by reducing the loads of motors to the robot. The control algorithm is designed based on the inverse kinematics using Pseudo inverse of Jacobian matrix. Detailed performances of this 10-joint robot arm and experimental results are outlined in further detail throughout this report.

Original language	English
Pages (from-to)	259-265
Number of pages	7
Journal	Journal of Institute of Control, Robotics and Systems
Volume	28
Issue number	3
DOIs	https://doi.org/10.5302/J.ICROS.2022.21.0239
State	Published - 2022

Keywords

Cable-driven
Flexible Robot
Hyper Redundant
Jacobian
Pseudo inverse

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10.5302/J.ICROS.2022.21.0239

Cite this

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title = "Development of a Cable-Driven, Multiple Degree of Freedom, Flexible Robot Arm",

abstract = "This report presents the development of a cable-driven hyper redundant flexible robot arm that has 10 joints with 20 degrees of freedom. The robot arm has the cable-driven mechanism for actuating each joint of the robot; instead of attaching the motors directly at each joints of the robot, the motors are deployed outside of the robot and the actuation force from the motors are transmitted by the flexible cables to each joint. The cable-driven mechanism makes the motion of the robot more flexible and dynamic by reducing the loads of motors to the robot. The control algorithm is designed based on the inverse kinematics using Pseudo inverse of Jacobian matrix. Detailed performances of this 10-joint robot arm and experimental results are outlined in further detail throughout this report.",

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N1 - Publisher Copyright: © ICROS 2022.

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AB - This report presents the development of a cable-driven hyper redundant flexible robot arm that has 10 joints with 20 degrees of freedom. The robot arm has the cable-driven mechanism for actuating each joint of the robot; instead of attaching the motors directly at each joints of the robot, the motors are deployed outside of the robot and the actuation force from the motors are transmitted by the flexible cables to each joint. The cable-driven mechanism makes the motion of the robot more flexible and dynamic by reducing the loads of motors to the robot. The control algorithm is designed based on the inverse kinematics using Pseudo inverse of Jacobian matrix. Detailed performances of this 10-joint robot arm and experimental results are outlined in further detail throughout this report.

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Development of a Cable-Driven, Multiple Degree of Freedom, Flexible Robot Arm

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Keywords

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