Design for a 5-DOF Cable-Driven Anthropomorphic Arm

In this paper, a motion control approach for a 5-DOF cable-driven manipulator is designed, and the mechanical structure design of this anthropomorphic-arm is introduced. For the 5-DOF manipulator, a hybrid algorithm is proposed to make the trajectory tracing of the manipulator in task space with high accuracy; the goals of the first phase of the robot arm have been meet. Although the method of motion control is limited in the current state, it serves as a strong foundation on which to test the performance and interface of the electronic components. The coupling cable lengths among the different joint modules are analyzed in detail.