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A novel cable-driven serial robot based on flexible joints and tensegrity structures

Published online by Cambridge University Press:  01 October 2025

Da Song Open the ORCID record for Da Song [Opens in a new window] ,
Haochen Wang Open the ORCID record for Haochen Wang [Opens in a new window] ,
Ming Lu Open the ORCID record for Ming Lu [Opens in a new window] ,
Hong Chen  and
Lixun Zhang
Da Song
Affiliation:
School of Mechanical Engineering, Northeast Electric Power University, Jilin, China
Haochen Wang*
Affiliation:
School of Mechanical Engineering, Northeast Electric Power University, Jilin, China
Ming Lu
Affiliation:
School of Mechanical Engineering, Northeast Electric Power University, Jilin, China
Hong Chen
Affiliation:
School of Automation Engineering, Northeast Electric Power University, Jilin, China
Lixun Zhang
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China
*
Corresponding author: Haochen Wang; Email: 15831031177@163.com
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Abstract

The study presents a novel cable-driven serial robot based on flexible joints and tensegrity structures, which features a rapid response capability in complex dynamic environments. This makes it particularly suitable for human–robot interaction scenarios. Compared to traditional rigid serial robots, the design’s compliance demonstrates significant advantages in addressing complex demands. The study delves into kinematic and dynamic modeling methods and verifies their effectiveness through simulations. The kinematic model transforms the local coordinate system to the global one using general kinematic equations. First, the static and dynamic model of the robot is derived based on the torque balance equation, and then the dynamic model of the robot is constructed. By simplifying the robot model, the relationship between tension values from driving cables and the robot’s workspace is analyzed under the constraints of tensegrity structures and flexible joints. Additionally, trajectory simulations validate the kinematic and dynamic models. The kinetic energy variation curves based on the trajectories confirm the accuracy of the theoretical analysis. This method demonstrates broad applicability and can be applied to other serial robots with flexible structures, offering effective solutions for use in complex dynamic environments.

Keywords

serial robotcable-driven robotdynamic modelflexible jointtensegrity structure

Information

Type
Research Article
Information
Robotica , Volume 43 , Issue 10 , October 2025 , pp. 3533 - 3553
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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