Design and Implementation of Wire-Driven Multi-Joint Robotic Arm

摘要

Compared with rigid robotic arms, soft robotic arms have the advantages of high degree of freedom, lightness, and flexibility. However, insufficient torque and overshoot often cause difficulties in arm control. A prototype of a wire-driven robotic arm is proposed. The design concept of the robotic arm comes from the skeletal joints of snakes, which are formed by a combination of multiple solid polygons and spherical joints. The bending process is similar to the muscle contraction when the snake's body is curled. A look-up table based servo control method is presented to rotate the motor to drive the arm to bend and move to a specific point within the bending range. The motion model of the robot arm is established by the MATLAB Simulink, and the simulation results are compared with the actual operation results to verify the controllability and positioning accuracy of the robotic arm.