Tension Distribution and Dynamics Analysis of a Cable-driven Humanoid Wrist
In order to simulate the structure and function of human arm and wrist joint, a 3-DOF(degree-of-freedom) cable-driven humanoid wrist is put forward, which is different from the traditional bionic joint, its function is achieved by a ball joint which connects the moving base platform and the base. Ho...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-06-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.06.023 |
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| _version_ | 1841547314891587584 |
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| author | Gui Heli Wang Zhaodong Cao Yi |
| author_facet | Gui Heli Wang Zhaodong Cao Yi |
| author_sort | Gui Heli |
| collection | DOAJ |
| description | In order to simulate the structure and function of human arm and wrist joint, a 3-DOF(degree-of-freedom) cable-driven humanoid wrist is put forward, which is different from the traditional bionic joint, its function is achieved by a ball joint which connects the moving base platform and the base. However, the introduction of cables increases the difficulty in modeling and control. Firstly, ignoring the gravity property of the cable, the standard dynamics equation of the humanoid-wrist joint is built by using Lagrange method. At the same time, taking into account the redundant actuation and single-direction force for the cables, the cable tension distribution optimization model is established, and the cable tension distribution is obtained by genetic algorithm. Secondly, aiming at the influence of the cable mass, a more accurate dynamics model is established by considering catenary. Finally, the two models are simulated and the simulation results are compared. |
| format | Article |
| id | doaj-art-1ce70fd4b84b4dd0b9b8b23a9ad59b5d |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-06-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-1ce70fd4b84b4dd0b9b8b23a9ad59b5d2025-01-10T14:45:00ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-06-014413414131443905Tension Distribution and Dynamics Analysis of a Cable-driven Humanoid WristGui HeliWang ZhaodongCao YiIn order to simulate the structure and function of human arm and wrist joint, a 3-DOF(degree-of-freedom) cable-driven humanoid wrist is put forward, which is different from the traditional bionic joint, its function is achieved by a ball joint which connects the moving base platform and the base. However, the introduction of cables increases the difficulty in modeling and control. Firstly, ignoring the gravity property of the cable, the standard dynamics equation of the humanoid-wrist joint is built by using Lagrange method. At the same time, taking into account the redundant actuation and single-direction force for the cables, the cable tension distribution optimization model is established, and the cable tension distribution is obtained by genetic algorithm. Secondly, aiming at the influence of the cable mass, a more accurate dynamics model is established by considering catenary. Finally, the two models are simulated and the simulation results are compared.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.06.023Cable-driven |
| spellingShingle | Gui Heli Wang Zhaodong Cao Yi Tension Distribution and Dynamics Analysis of a Cable-driven Humanoid Wrist Jixie chuandong Cable-driven |
| title | Tension Distribution and Dynamics Analysis of a Cable-driven Humanoid Wrist |
| title_full | Tension Distribution and Dynamics Analysis of a Cable-driven Humanoid Wrist |
| title_fullStr | Tension Distribution and Dynamics Analysis of a Cable-driven Humanoid Wrist |
| title_full_unstemmed | Tension Distribution and Dynamics Analysis of a Cable-driven Humanoid Wrist |
| title_short | Tension Distribution and Dynamics Analysis of a Cable-driven Humanoid Wrist |
| title_sort | tension distribution and dynamics analysis of a cable driven humanoid wrist |
| topic | Cable-driven |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.06.023 |
| work_keys_str_mv | AT guiheli tensiondistributionanddynamicsanalysisofacabledrivenhumanoidwrist AT wangzhaodong tensiondistributionanddynamicsanalysisofacabledrivenhumanoidwrist AT caoyi tensiondistributionanddynamicsanalysisofacabledrivenhumanoidwrist |