Abstract

AbstractThis paper presents a 7-DOF lightweight modular cable-driven humanoid arm with separately distributed actuators and joint mechanisms. The traditional cable-driven manipulator with actuators arranged on the base has problems of cable coupling and poor joint independence. This work proposed a novel 1-DOF elbow mechanism based on an anti-parallelogram mechanism and expanded it to the 3-DOF wrist and shoulder joint. The proposed modular anthropomorphic arm, with a separate actuator and joint mechanism, allows each modular joint to be independently driven, and the arm assembly can be completed within 3 min without the need for rewinding. It effectively avoids the cable coupling between the joints by using Bowden cables as the medium of force and motion transmission between the actuator mechanism and joints, and the weight of the arm is reduced. A prototype was developed to validate the proposed method, which has a total mass of 1.672 kg, including the 1.239 kg weight of the moving parts. Experiments were conducted, and the test results show a good kinematic performance.KeywordsModular designCable-drivenRobotic arm

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