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Title: Design optimization of a cable-driven two-DOF flexible joint module
Authors: Zhang, Zhao
Keywords: DRNTU::Engineering::Bioengineering
Issue Date: 2012
Source: Zhang, Z. (2012). Design optimization of a cable-driven two-DOF flexible joint module. International journal of advanced robotic systems, 9, 213-.
Series/Report no.: International journal of advanced robotic systems
Abstract: This paper focuses on the kinematics, kinetostatics and design optimization of a 2-DOF cable-driven flexible joint module. Based on the motion characteristics of the 2-DOF joint module, the concept of instantaneous screw axis in conjunction with the Product-Of-Exponentials (POE) formula is proposed to formulate its kinematic model. However, as the instantaneous screw axis is unfixed, the Lie group method is employed to derive the instantaneous kinematic model of the joint module. In order to generate the feasible workspace subject to positive tension constraint, the kinetostatics of the joint module is addressed, where the stiffness resulting from both the driving cables and the flexible backbone are considered. A numerical orientation workspace evaluation method is proposed based on an equi-volumetric partition in its parametric space and the volume-element associated integral factor. A global singular value (GSV) index, which considers the minimum singular value of the stiffness matrix of joint module over the achievable workspace, is employed to optimize the geometric size of joint module. The simulation results demonstrate the effectiveness of the proposed GSV optimization algorithm.
ISSN: 1729-8806
DOI: 10.5772/53669
Rights: © 2012 Zhang; licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:RRC Journal Articles

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