Mechanical Design and Development of Wire Driving Robot Arm

J. Yuan, W. Zhang, J. Tao, and Z. Wan (PRC)


Robotics, Mechanical Design, Wire Driving, Robot Arm, and Wire Tension.


Still, it is normal design method to install the driving components such as the electric motors, transmissions and so on directly just nearby the relative joints, among numerous mechanical designs of robot arms, especially of industrial robot manipulators, which are widely applied in industrial production. This paper describes mechanical design and development of a 4-degree-of-freedom robot arm/manipulator for industrial purpose. The robot arm is designed with wire driving structure so that all the driving components can be installed into fixed body/base which is away from the relative joints. With this design, not only the structure of robot arm becomes compact and simple, but also the whole weight is dropped, at the same time, the output power to do work is increased relatively. We also develop a novel wire tension adjustment mechanism, which is very simple and easy to operate. With this adjustment mechanism, the problem of rigidity of normal wire driving robot arm can be improved to a certain extent; therefore, the end displacement accuracy of robot arm with wire driving system is highly increased.

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