A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for Robotic Applications

A soft joint has been designed and modeled to perform as a robotic joint with 2 Degrees of Freedom (DOF) (inclination and orientation). The joint actuation is based on a Cable-Driven Parallel Mechanism (CDPM). To study its performance in more detail, a test platform has been developed using components that can be manufactured in a 3D printer using a flexible polymer. The mathematical model of the kinematics of the soft joint is developed, which includes a blocking mechanism and the morphology workspace. The model is validated using Finite Element Analysis (FEA) (CAD software). Experimental tests are performed to validate the inverse kinematic model and to show the potential use of the prototype in robotic platforms such as manipulators and humanoid robots.

Automated summary

A soft joint with 2 Degrees of Freedom designed to function as a robotic joint utilizing a Cable-Driven Parallel Mechanism. A test platform using components manufactured in a 3D printer with a flexible polymer was developed to analyze its performance in detail. The mathematical kinematics model of the soft joint including a blocking mechanism and workspace morphology was validated through Finite Element Analysis, with experimental tests confirming the inverse kinematic model and potential use in robotic platforms.