文章基本信息

标题：Design for a 5-DOF Cable-Driven Anthropomorphic Arm
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作者：Weihua Su ; Xudong Ren ; Fu Niu 等
期刊名称：International Journal of Computer Science Issues
印刷版ISSN：1694-0784
电子版ISSN：1694-0814
出版年度：2013
卷号：10
期号：1
出版社：IJCSI Press
摘要：In this paper, a motion control approach for a 5-DOF cable-driven manipulator is designed, and the mechanical structure design of this anthropomorphic-arm is introduced. For the 5-DOF manipulator, a hybrid algorithm is proposed to make the trajectory tracing of the manipulator in task space with high accuracy; the goals of the first phase of the robot arm have been meet. Although the method of motion control is limited in the current state, it serves as a strong foundation on which to test the performance and interface of the electronic components. The coupling cable lengths among the different joint modules are analyzed in detail.
关键词：5;DOF; Design; Anthropomorphic Arm