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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Acknowledgements
This work is supported by the National Natural Science Foundation of China (Code: 51475448 and 51705510) and Qianjiang Talent Project (Code: QJD1602033).
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Yang, K. et al. (2020). A Generic Stiffness Measurement Method for a 3-DOF Cable-Driven Joint Module. In: Jain, V., Patnaik, S., Popențiu Vlădicescu, F., Sethi, I. (eds) Recent Trends in Intelligent Computing, Communication and Devices. Advances in Intelligent Systems and Computing, vol 1006. Springer, Singapore. https://doi.org/10.1007/978-981-13-9406-5_27
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DOI: https://doi.org/10.1007/978-981-13-9406-5_27
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