Design and verification of motiondecoupled modular for cabledriven robot
                                              HUA Daren1, WANG Yaoyao1,2, LI Bingbing1, JU Feng1,2, CHEN Bai1
（1.College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China; 2.State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China）

Abstract: Aiming at the motioncoupling between manipulator joints in cabledriven robots, the coupling relationship was studied and a novel motiondecoupled mechanism was proposed. A new routing of cables was adopted in this modular. The decoupling cables restricted the follower wheel to rotate at an angular velocity half the rotation angular velocity of proximal joint. Two driving cables of distal joint with similar routing would wind or unwind along the guide pulley, which avoids the length change of the driving cables during the rotation of proximal joint. As a result, the motioncoupling problem could be solved. A decoupling verification platform system was built . The experiment results show that this motiondecoupled mechanism could compensate the length change of driving cables of distal joint when proximal joint is rotating, which means motiondecoupling has been realized. However, there is still some errors in this motiondecoupled mechanism when driving direction of proximal joint is changed.

Key words: cabledriven robot; motion coupling; motiondecoupled modular