Dexterous robot arm
Dexterous robot arms are capable of manoeuvring in highly-confined spaces due to their high flexibility. With the potential in many applications, the optimum design of these robots in terms of configurations and control has attracted much interest and research. In this project, the objective is to d...
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| Format: | Final Year Project |
| Language: | English |
| Published: |
2011
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| Subjects: | |
| Online Access: | http://hdl.handle.net/10356/46190 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | Dexterous robot arms are capable of manoeuvring in highly-confined spaces due to their high flexibility. With the potential in many applications, the optimum design of these robots in terms of configurations and control has attracted much interest and research. In this project, the objective is to design and implement the motion control on a cable-driven dexterous robot arm prototype using Dynamixel-R64 motors as actuation units with suitable control circuit. A research prototype of cable-driven
dexterous robot arm with 3-module has been setup in this project. A single module of
proposed robot arm prototype consists of five disks which are form of a very thin
cylindrical shape, with two actuating cables to acquire 1-DOF motion. Therefore,
total of six cables are used for three modules and each actuating cable is controlled
by an Rx-64 motor. Motion control of the cable-driven dexterous robot arm can be
achieved by controlling the motors synchronously. |
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