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.


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    Title :

    A Generic Stiffness Measurement Method for a 3-DOF Cable-Driven Joint Module


    Contributors:
    Yang, Kaisheng (author) / Yang, Guilin (author) / Chen, Silu (author) / Fang, Zaojun (author) / Wang, Yi (author) / Gu, Lefeng (author) / Zheng, Tianjiang (author)


    Publication date :

    2019-10-02


    Size :

    7 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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