Abstract A cable-driven module with passive spherical joint is proposed as a fundamental building block for modular cable-driven manipulators to produce compliant and intrinsically safe motions, which are suitable for the human–robot co-existing applications. Stiffness measurement is an important issue for the cable-driven manipulators. In this work, a generic measurement method for the cable-driven modules and manipulators is proposed. The proposed method does not require to measure cable tensions, making it be easier to implement than the model-based method. The effectiveness of the proposed method is validated by a comprehensive simulation.
A Generic Stiffness Measurement Method for a 3-DOF Cable-Driven Joint Module
02.10.2019
7 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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