A Novel Three Degree-of-Freedoms Tension-Amplifying Cable-Driven Parallel Mechanism for Shoulder Joint*

Higher loading capacity for arms of the humanoid robot that applying to the handling of heavy objects is necessary. In this paper, a three degree-of-freedoms (DOFs) tension-amplifying cable-driven parallel mechanism (TACDPM) is proposed for the shoulder joint of a heavy load humanoid robot. The mobility, tension amplification and kinematics of the TACDPM are analyzed, which can be used for the structural design of the mechanism. Cable length and tension simulation is conducted in MATLAB to demonstrate the mechanism can realize the necessary motion. Physical prototype is also fabricated to show the feasibility of the proposed TACDPM.

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