Design and Control Methodology of a Cable Driven Active Spatial Rolling Contact Pair
In order to generate relative motion between links with the spatial rolling contact pair (SRCP) by adding simple actuation device, the cable driven active SRCP (ASRCP) is proposed. In the ASRCP, two links connected with the SRCP are driven by active cables (e.g. artificial muscles) arranged between the links. The active cables are optimally arranged based on a transmission index for general parallel cable driven mechanisms. Cable tensions to drive two links are calculated by taking care of the stability of the rolling contact of the SRCP. An example is designed and the cable tensions are calculated. The result shows that it has good transmission of driving force and can generate the ideal rolling motion with the calculated cable tensions.
KeywordsLinkage mechanism Kinematic pair Rolling contact joint Cable driven mechanism Parallel wire driven mechanism
Unable to display preview. Download preview PDF.
This work was supported by JSPS KAKENHI Grant Number 18J21095.
- 1.Freudenstein, F.: Approximate Synthesis of Four-Bar Linkages. Transaction of ASME, Vol.77, pp.853-861 (1955).Google Scholar
- 10.Kimura, N., Iwatsuki, N.: Spatial Rolling Contact Pair Generating the Specied Relative Motion between Links. Proc. of the 4th IFToMM Asian Conference on Mechanisms and Machine Science (IFToMM Asian MMS 2016), Vol.408, No.26, pp.307-316 (2016).Google Scholar
- 12.Kimura, N., Iwatsuki, N., Ikeda, I.: Design of the Elastic Constraints with Flexures and Linear Springs for the Spatial Rolling Contact Pair. Proc. of the 22nd International Conference on Mechatronics Technology (ICMT2018), No.49, 2pages (2018).Google Scholar
- 14.Nazma, E., Mold, S.: TENDON DRIVEN ROBOTIC HANDS: A REVIEW. International Journal of Mechanical Engineering and Robotics Research, Vol.1, No.3, pp.350-357 (2012).Google Scholar
- 17.Asano, Y. et.al.: Biomimetic Design of Musculoskeletal Humanoid Knee Joint with Patella and Screw-Home Mechanism. Proc. of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1813-1818 (2011).Google Scholar
- 18.Asano, Y. et.al.: Lower Thigh Design of Detailed Musculoskeletal Humanoid “Kenshiro”. Proc. of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4367-4372 (2012).Google Scholar
- 19.Kurumaya, S. et.al.: Musculoskeletal lower-limb robot driven by multifilament muscles. Robomech Journal, Vol.3, No.13 (2016).Google Scholar