Simulation of a cable-driven actuation concept for a humanoid robot prototype

Abstract

This paper explores the feasibility of cable-driven actuators in combination with the lightweight skeleton structure of the humanoid robot HUMECH. At the beginning the setup of the robot prototype is described in detail followed by a Dymola <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">®</sup> simulation model of the cable-driven actuators. However, the load and dynamic motion behavior of the Dyneema <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">®</sup> cable-fibers are examined in order to obtain an evaluation of the developed model and its dynamic behavior. Finally the simulation results being presented and discussed in accordance to the goal of following a human motion trajectory of the right shoulder.