Harmonious Cable Actuation Mechanism for Soft Robot Joints Using a Pair of Noncircular Pulleys

Abstract

Various slim robots, such as surgical robots or humanoid robot fingers, are remotely actuated using transmission cables. If pull–pull drive is applied to actuate them using circular driving spools regardless of the shape of the joints, the tension of the driving cable becomes difficult to be maintained properly. Fortunately, it is possible to solve such a cable slack problem by providing an appropriate cable actuation length to the joint structure of the robot from the cable driving unit. Therefore, we propose a harmonious nonlinear cable actuation mechanism suitable for driving noncircular shaped joints. The proposed cable driver can mechanically provide the required cable actuation length to suit the angle change of the target joint using a pair of noncircular pulleys without increasing the number of actuators. In this paper, a design methodology of a noncircular pulley that can be applied to pulleyless rolling joints (PR joints) as well as pulleyless hinge joints is shown. Moreover, a practical cable driver is designed for actuating a hyper-redundant discrete bending joint composed of PR joints, and its effectiveness is verified through experiments. This novel cable actuation mechanism using noncircular pulleys or gears is expected to be applicable to various miniature robots such as surgical robots and animal robots of continuum structure in the future.

Design and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints

“…e relationship between cable length and bending angles should be considered to design the driving mechanism of the cabledriven hyper-redundant robot [33,34]. For most cabledriven hyper-redundant robots, the relationship between the length inputs of each cable and bending angles is a nonlinear function.…”

Design of a dexterous robotic surgical instrument with a novel bending mechanism

“…The sum of two length variations (ΔL l + ΔL r ) is zero, which contributes to the elimination of cable slack and variable cable tensions. 21…”

Dynamic Modeling and Simulation of a Robotic Lander Based on Variable Radius Drums

“…Conversely, in this work we employ a synthesized VRD to generate a specific force when connected to a linear spring-loaded mechanism. Other examples of the application of VRDs, also known as non-circular pulleys, include cable actuation in soft robot joints [30], devices for upper leg rehabilitation [31], mechanisms for energy saving [32], and force regulation [33].…”