Dynamic Analysis of Cable-Driven Humanoid Arm Based on Lagrange’s Equation

  • Jianhua Wang
  • Xiang Cui
  • Weihai Chen
  • Yan Jin
Conference paper


Human beings have flexible arms and legs that can ensure them conduct various challenging operations to work out daily requirements. Therefore, Humanoid mechanism design become hot research areas recently. To mimic the skeleton structure and driving scheme of a human arm, a 7-DOF cable-driven mechanism is determined to develop. Cable-driven mechanism allows actuators don’t have to be placed on joints that makes it possesses several advantages such as low weight, high dexterity, and large reachable workspace compared with traditional configurations. The forward and inverse displacement analysis issues are conducted. In this paper, dynamic analysis of the cable-driven humanoid arm (CDHA) is conducted based on Lagrange’s method. The dynamic model is established by making use of twist-product-of-exponential formula and the cable tension distribution analysis is also addressed. At last, both the dynamic model and the algorithm are validated through several simulations in MATLAB.


Lagrangian dynamics Humanoid robot Cable-driven Screw theory 



This work is supported by the National Natural Science Foundation of China under Grant No. 50875011 and No. 50975017.


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Copyright information

© Springer-Verlag London 2012

Authors and Affiliations

  1. 1.Beihang UniversityBeijingPeople’s Republic of China
  2. 2.Queens University Belfast BelfastUK

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