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:
30 June 2018
| 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

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