Inverse kinematic tension analysis and optimal design of a cable-driven parallel-series hybrid joint towards wheelchair-mounted robotic manipulator

Inverse kinematic tension analysis and optimal design of a cable-driven parallel-series hybrid joint towards wheelchair-mounted robotic manipulator

Shan Zhang Dongxing Cao Shuai Li Hong Min Feng Fan  

School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China

School of Mechatronic Engineering, Zaozhuang University, Zaozhuang 277100, China

Xuecheng Human Resources and social Security Bureau, Zaozhuang 277000, China

Corresponding Author Email:
| |
| | Citation



This paper aims to overcome the inapplicability of the traditional wheelchair-mounted robotic manipulators (WMRMs) to disabled elderly people. To this end, the author proposed a cable-driven parallel-series hybrid joint (CDPSHJ) for the WMRM. The joint is driven by 2 cables between the upper and lower platforms; the two platforms are supported by a middle compression spring, forming the parallel part; the middle of the spring has two rigid shafts with a revolute pair; rigid shaft 1 passes through the upper platform, forming the series part. Then, the inverse kinematic analysis was performed to evaluate the cable length, and the cable tension was analysed through static modelling and lateral buckling modelling of the spring. Then, the correctness of the proposed model was verified by numerical implementations, and the proposed CDPSHJ was proved rational through Matlab simulation. Finally, optimize design based on the inverse kinematics tension analysis. With large work space, smooth motion and light structure, the proposed CDPSHJ is an ideal tool for assistive BCIs.


wheelchair-mounted robotic manipulator (WMRM), cable-driven, hybrid mechanism, spring lateral buckling

1. Introduction
2. Design of cdpshej
3. Inverse kinematics analysis
4. Tension analysis
5. Results analysis
6. Optimal CDPSHEJ
7. Conclusions

Cafolla D., Ceccarelli M. (2016). Design and simulation of a cable-driven vertebra-based humanoid torso. International Journal of Humanoid Robotics, Vol. 13, No. 4, pp. 1-27.

Chen Q. Z., Chen W. H., Liu R., Zhang J. B. (2010). Mechanism design and tension analysis of a cable-driven humanoid-arm manipulator with joint angle feedback. Journal of Mechanical Engineering, Vol. 46, No. 13, pp. 83-90.

Cihat B. Y., Pinar B. (2017). Design and modeling of a cable-driven parallel-series hybrid variable stiffness joint mechanism for robotics. Mechanical Sciences, Vol. 8, No. 1, pp. 65-77.

Dextrous Light weight Arm LWA4D.SCHUNKGmbH&Co.KG.

Gao B. T., Song H. G., Zhao J. G., Guo S. X., Sun L. X., Tang Y. (2014). Inverse kinematics and workspace analysis of a cable-driven parallel robot with a spring spine. Mechanism and Machine Theory, Vol. 76, pp. 56-69.

Grigorescu S. M., Lüth T., Fragkopoulos C., Cyriacks M., Gräser A. (2012). A BCI controlled robotic assistant for quadriplegic people in domestic and professional life. Robotica, Vol. 30, No. 3, pp. 419-431.

Hersh M. (2015). Overcoming barriers and increasing independence–service robots for elderly and disabled people. International Journal of Advanced Robotic Systems, Vol. 12, No. 114, pp. 1-33.

Jiang H. R., Zhang T., Wachs J. P., Duerstock B. S. (2016). Enhanced control of a wheelchair-mounted robotic manipulator using 3-D vision and multimodal interaction. Computer Vision and Image Understanding, Vol. 149, pp. 21-31.

Magermans D. J., Chadwick E. K. J., Veeger H. E. J., van der Helm F. C. T. (2005). Requirements for upper extremity motions during activities of daily living. Clinical Biomechanics, Vol. 20, No. 6, pp. 591–599.

Nori F., Jamone L., Metta G., Sandini G. (2007). Accurate control of a human-like tendon-driven neck. Humanoid Robots, 2007 7th IEEE-RAS International Conference on, pp. 371-378.

Physical Education: Structure and function. <>

Raiss P., Rettig O., Wolf S., Loew1 M., Kasten P. (2007). Range of motion of shoulder and elbow in activities of daily life in 3D motion analysis.  Zeitschrift fur Orthopadie und Unfallchirurgie, Vol. 145, No. 4, pp. 493-498. 

Sun X. D. (2013). China statistical year book on the work for persons with disabilities. Beijing: China Statistics Press.

Timoshenko S., Gere J. (1961). Theory of elastic stability. New York, NY: McGraw-Hill.

Tobias Bruckmann T., Pott A. (2013). Cable-driven parallel robots. Mechanisms and Machine Science, Springer International Publishing.

Vogel J., Haddadin S., Jarosiewicz B., Simeral J. D., Bacher D., Hochberg L. R., Donoghue J. P., Van Der Smagt P. (2015). An assistive decision-and-control architecture for force-sensitive hand–arm systems driven by human–machine interfaces. The International Journal of Robotics Research, Vol. 34, No. 6, pp. 1-18.

World Health Organization (2014). Facts about ageing, October 11, 2014. <>.

Yang G. L., Mustafa S. K., Yeo S. H., Lin W., Lim W. B. (2011). Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm. Frontiers of Mechanical Engineering, Vol. 6, No. 1, pp. 45-60.

Yang J. Z., Pitarch E. P., Potratz J., Steven Beck S., Abdel-Malek K. (2006). Synthesis and analysis of a flexible elephant trunk robot. Advanced Robotics, Vol. 20, No. 6, pp. 631-659.

Zhang A. M., Chen G. M. (2013). A comprehensive elliptic integral solution to the large deflection problems of thin beams in compliant mechanisms. J Mech Robot, Vol. 5, No. 2, pp. 021006.

Zi B., Duan B. Y., Du J. L., Bao H. (2008). Dynamic modeling and active control of a cable-suspended parallel robot. Mechatronics, Vol. 18, No. 1, pp. 1-12.