Design optimization of a cable-driven two-DOF flexible joint module
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...
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2014
|
| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/106236 http://hdl.handle.net/10220/23967 |
| _version_ | 1811685454667317248 |
|---|---|
| author | Zhang, Zhao |
| author2 | Robotics Research Centre |
| author_facet | Robotics Research Centre Zhang, Zhao |
| author_sort | Zhang, Zhao |
| collection | NTU |
| description | 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. |
| first_indexed | 2024-10-01T04:44:47Z |
| format | Journal Article |
| id | ntu-10356/106236 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T04:44:47Z |
| publishDate | 2014 |
| record_format | dspace |
| spelling | ntu-10356/1062362020-09-26T22:05:10Z Design optimization of a cable-driven two-DOF flexible joint module Zhang, Zhao Robotics Research Centre DRNTU::Engineering::Bioengineering 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. Published version 2014-10-07T03:07:00Z 2019-12-06T22:07:05Z 2014-10-07T03:07:00Z 2019-12-06T22:07:05Z 2012 2012 Journal Article Zhang, Z. (2012). Design optimization of a cable-driven two-DOF flexible joint module. International journal of advanced robotic systems, 9, 213-. 1729-8806 https://hdl.handle.net/10356/106236 http://hdl.handle.net/10220/23967 10.5772/53669 en International journal of advanced robotic systems © 2012 Zhang; licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. application/pdf |
| spellingShingle | DRNTU::Engineering::Bioengineering Zhang, Zhao Design optimization of a cable-driven two-DOF flexible joint module |
| title | Design optimization of a cable-driven two-DOF flexible joint module |
| title_full | Design optimization of a cable-driven two-DOF flexible joint module |
| title_fullStr | Design optimization of a cable-driven two-DOF flexible joint module |
| title_full_unstemmed | Design optimization of a cable-driven two-DOF flexible joint module |
| title_short | Design optimization of a cable-driven two-DOF flexible joint module |
| title_sort | design optimization of a cable driven two dof flexible joint module |
| topic | DRNTU::Engineering::Bioengineering |
| url | https://hdl.handle.net/10356/106236 http://hdl.handle.net/10220/23967 |
| work_keys_str_mv | AT zhangzhao designoptimizationofacabledriventwodofflexiblejointmodule |