Kinematic Analysis of Redundant Cable-Driven Mechanical Arms Based on the Effects of Friction and Deformation

Inspired by the flexibility of natural organisms, cable-driven redundant mechanical manipulator are constructed with multiple linked joints, presenting remarkable dexterity. These qualities render them particularly suitable for operations in complex, constrained environments. This paper details the design of a 12-degree-of-freedom cable-driven redundant mechanical arm and introduces an advanced kinematic algorithm that incorporates the effects of cable elasticity and pulley friction to enhance the trajectory precision of the arm’s end-effector. Our research initiates with the development of a multi-tiered kinematic model that interrelates the lengths of cables, the angles of the joints, and the positioning of the end-effector. Building upon the principles of static equilibrium and the Stribeck friction model, we have evolved distinct models for joint and pulley friction. Simulation analyses conducted in MATLAB substantiate the efficacy of the proposed kinematic algorithm, offering theoretical guidance and experimental validation for the precise control of mechanical manipulator in practical engineering applications. (Abstract)