Design and Implementation of Wire-Driven Multi-Joint Robotic Arm

Cheng-Chao Huang, Chung-Liang Chang
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Abstract

Compared with rigid robotic arms, soft robotic arms have the advantages of high degree of freedom, lightness, and flexibility. However, insufficient torque and overshoot often cause difficulties in arm control. A prototype of a wire-driven robotic arm is proposed. The design concept of the robotic arm comes from the skeletal joints of snakes, which are formed by a combination of multiple solid polygons and spherical joints. The bending process is similar to the muscle contraction when the snake's body is curled. A look-up table based servo control method is presented to rotate the motor to drive the arm to bend and move to a specific point within the bending range. The motion model of the robot arm is established by the MATLAB Simulink, and the simulation results are compared with the actual operation results to verify the controllability and positioning accuracy of the robotic arm.
线驱动多关节机械臂的设计与实现
与刚性机械臂相比,柔性机械臂具有自由度高、轻便、灵活等优点。然而,扭矩不足和超调常造成手臂控制困难。提出了一种线驱动机械臂的原型。机械臂的设计理念来源于蛇的骨骼关节,由多个实心多边形和球形关节组合而成。弯曲的过程类似于蛇身体卷曲时的肌肉收缩。提出了一种基于查找表的伺服控制方法,通过旋转电机驱动手臂弯曲并移动到弯曲范围内的特定点。利用MATLAB Simulink建立了机器人手臂的运动模型,并将仿真结果与实际运行结果进行对比,验证了机器人手臂的可控性和定位精度。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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