In biological systems, the joints are actuated antagonistically by muscles that can be moved coherently to achieve the desired displacement and co-activated with appropriate forces to increase the joint stiffness. Taking inspiration from this, there is an interest to develop bio-inspired robots that are suitable for both low-stiffness and high-stiffness tasks. Mechanisms actuated by antagonist cables can be a reasonable approximation of biological joints. A study on the anti-parallelogram mechanism showed that the antagonistic forces (>0) have a positive influence on its stiffness, similar to the biological joints. In this work, more general symmetric four-bar mechanisms with crossed/regular limbs, larger/smaller top and base bars are investigated for this property. Totally, six different types of mechanisms were identified and the limits of movement were determined in each case. Inside these limits, it was found through numerical simulations that the cable forces have a positive (resp. negative) influence on the stiffness of the mechanism when its limbs are crossed (resp. regular). This shows that the symmetric four-bar mechanisms with crossed limbs are suitable for building bio-inspired joints/robots, while their counterparts cannot serve this purpose. Among these, the anti-parallelogram mechanism offers the largest orientation range of  ] - π , π [ \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$]-\pi ,\pi [$$\end{document} for the top bar w.r.t. its base and is thus the best choice.


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    Title :

    Effect of Antagonistic Cable Actuation on the Stiffness of Symmetric Four-Bar Mechanisms


    Additional title:

    Mechan. Machine Science



    Conference:

    International Conference on Cable-Driven Parallel Robots ; 2023 ; Nantes, France June 25, 2023 - June 28, 2023


    Published in:

    Cable-Driven Parallel Robots ; Chapter : 27 ; 332-343


    Publication date :

    2023-06-03


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English