This paper explores the feasibility of cable-driven actuators in combination with the lightweight skeleton structure of the humanoid robot HUMECH. At the beginning the setup of the robot prototype is described in detail followed by a Dymola® simulation model of the cable-driven actuators. However, the load and dynamic motion behavior of the Dyneema® cable-fibers are examined in order to obtain an evaluation of the developed model and its dynamic behavior. Finally the simulation results being presented and discussed in accordance to the goal of following a human motion trajectory of the right shoulder.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Simulation of a cable-driven actuation concept for a humanoid robot prototype


    Beteiligte:


    Erscheinungsdatum :

    01.09.2014


    Format / Umfang :

    2957497 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Dynamics modeling and tension analysis for a cable-driven humanoid-arm robot

    Weihai, C. / Xianqiang, Y. / Xiang, C. et al. | British Library Online Contents | 2013


    Actuation of a hand intended for being provided on a humanoid robot

    LAVILLE JÉRÉMY / CLERC VINCENT / MAISONNIER BRUNO | Europäisches Patentamt | 2017

    Freier Zugriff

    Prototype Design and Testing of TORVEastro, Cable-Driven Astronaut Robot

    Samani, Francesco / Ceccarelli, Marco | TIBKAT | 2020


    Effect of Actuation Errors on a Purely-Translational Spatial Cable-Driven Parallel Robot

    Mottola, Giovanni / Gosselin, Clement / Carricato, Marco | BASE | 2019

    Freier Zugriff

    HUMANOID ROBOT

    FLEURY PAUL GLONINGER / RESH BRADLEY AARON / YOUNG JOSEPH MICHAEL et al. | Europäisches Patentamt | 2024

    Freier Zugriff