DESIGN OF MOTION-DECOUPLED JOINT FOR CABLE-DRIVEN SERVO-MANIPULATOR

摘要

In this paper, we present the design of a motion-decoupled joint and its construction for a cable-driven servo-manipulator. The cable transmission greatly reduces the weight and friction. However, it causes motion coupling problems where the length or tension of the cable is changed due to another link's motions. To maintain the cable length constant regardless of the rotation of the arm, we used a new joint motion decoupling mechanism where a moving pulley actively compensates for a motion interference. Also, we optimize the geometrical parameters of the cable-pulley configurations to minimize the overall variation of the cable length.