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A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for Robotic Applications

Author

Listed:
  • Luis Nagua

    (Robotics Lab of the Carlos III University of Madrid, Avda de la Universidad 30, Leganés, 28911 Madrid, Spain
    These authors contributed equally to this work.)

  • Carlos Relaño

    (Robotics Lab of the Carlos III University of Madrid, Avda de la Universidad 30, Leganés, 28911 Madrid, Spain
    These authors contributed equally to this work.)

  • Concepción A. Monje

    (Robotics Lab of the Carlos III University of Madrid, Avda de la Universidad 30, Leganés, 28911 Madrid, Spain)

  • Carlos Balaguer

    (Robotics Lab of the Carlos III University of Madrid, Avda de la Universidad 30, Leganés, 28911 Madrid, Spain)

Abstract

A soft joint has been designed and modeled to perform as a robotic joint with 2 Degrees of Freedom (DOF) (inclination and orientation). The joint actuation is based on a Cable-Driven Parallel Mechanism (CDPM). To study its performance in more detail, a test platform has been developed using components that can be manufactured in a 3D printer using a flexible polymer. The mathematical model of the kinematics of the soft joint is developed, which includes a blocking mechanism and the morphology workspace. The model is validated using Finite Element Analysis (FEA) (CAD software). Experimental tests are performed to validate the inverse kinematic model and to show the potential use of the prototype in robotic platforms such as manipulators and humanoid robots.

Suggested Citation

  • Luis Nagua & Carlos Relaño & Concepción A. Monje & Carlos Balaguer, 2021. "A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for Robotic Applications," Mathematics, MDPI, vol. 9(13), pages 1-25, June.
    • Handle: RePEc:gam:jmathe:v:9:y:2021:i:13:p:1468-:d:580230
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    Cited by:

    1. Mikhail Posypkin & Andrey Gorshenin & Vladimir Titarev, 2022. "Preface to the Special Issue on “Control, Optimization, and Mathematical Modeling of Complex Systems”," Mathematics, MDPI, vol. 10(13), pages 1-8, June.

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