提出可完全解耦的缆绳驱动机械臂，实现高精度与大负载。
D3-ARM: High-Dynamic, Dexterous and Fully Decoupled Cable-driven Robotic Arm
- 通过低摩擦解耦机构对齐缆绳，提升传动效率。
- 实测定位误差1.29毫米，承载能力达2.0公斤。
- 适合需要轻量化与高精度的工业或医疗场景。
缆绳传动使机器人手臂的电机可在远端驱动轻量、低惯量关节，但会引发运动耦合与缆绳布线问题，降低控制精度与性能。本文提出一种新型低摩擦解耦机制，用于对齐缆绳并高效传递动力。在关节处布置该机制后，构建出全解耦、轻量化的缆绳驱动机械臂D3-Arm，所有电气部件均置于基座。其776毫米长活动部分具备六自由度，仅重1.6公斤。为解决缆绳松弛问题，集成缆绳预紧机制以增强远距离传动稳定性。一系列测试表明，D3-Arm平均定位误差为1.29毫米，负载能力达2.0公斤，验证了所提解耦机制在缆绳驱动机械臂中的实用性。
原文摘要 · Abstract (English)
Cable transmission enables motors of robotic arm to operate lightweight and low-inertia joints remotely in various environments, but it also creates issues with motion coupling and cable routing that can reduce arm's control precision and performance. In this paper, we present a novel motion decoupling mechanism with low-friction to align the cables and efficiently transmit the motor's power. By arranging these mechanisms at the joints, we fabricate a fully decoupled and lightweight cable-driven robotic arm called D3-Arm with all the electrical components be placed at the base. Its 776 mm length moving part boasts six degrees of freedom (DOF) and only 1.6 kg weights. To address the issue of cable slack, a cable-pretension mechanism is integrated to enhance the stability of long-distance cable transmission. Through a series of comprehensive tests, D3-Arm demonstrated 1.29 mm average positioning error and 2.0 kg payload capacity, proving the practicality of the proposed decoupling mechanisms in cable-driven robotic arm.
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