Kinematic and Static Modelling of a New Two-Degree-of-Freedom Cable Operated Joint - Archive ouverte HAL Access content directly
Conference Papers Year : 2023

Kinematic and Static Modelling of a New Two-Degree-of-Freedom Cable Operated Joint

Abstract

This paper proposes a new two-degrees-of-freedom (dof) cable actuated mechanism which can be utilized for lightweight variable-stiffness manipulators. Using numerical methods, a kinematic model for the proposed mechanism is derived for determining the mechanism’s configurations and cable lengths for a pair of independent task-space variables. The numerical algorithm used for estimating the workspace is cross-validated with a virtual prototype of the mechanism using ONSHAPE®. The work presented in the paper concludes with the static modelling of the mechanism, which yielded insights regarding the magnitude of the actuation forces, depending on the desired wrench-feasible workspace of the mechanism.

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hal-04271938 , version 1 (06-11-2023)

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Isaac John, Santhakumar Mohan, Philippe Wenger. Kinematic and Static Modelling of a New Two-Degree-of-Freedom Cable Operated Joint. 6th IFToMM International Conference on Mechanisms, Transmissions, and Applications, Med Amine Laribi, Jun 2023, Poitiers, France. pp.111-123, ⟨10.1007/978-3-031-29815-8_12⟩. ⟨hal-04271938⟩
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