A humanoid robotic arm with seven degrees of freedom (7-DOF) designed using a modular architecture and actuated by cables offers a unique combination of dexterity, adaptability, and potential cost-effectiveness. Each module, encompassing a joint and its associated cabling, can be designed, manufactured, and tested independently. This approach facilitates the creation of arms with varying lengths, configurations, and functionalities by combining and recombining these standardized units. Cable-driven actuation, often achieved through motors situated in a fixed base or within the arm’s torso, transmits forces to the joints via cables, offering advantages in terms of weight reduction, remote actuation, and compliance.
This construction method offers significant benefits. Modularity simplifies maintenance and repair, as individual modules can be replaced easily without requiring a complete arm overhaul. It also enables rapid prototyping and customization, allowing researchers and engineers to experiment with different arm configurations and explore a wider range of applications. Cable actuation contributes to lighter arms, reducing inertial forces and power consumption, making them suitable for tasks requiring high speed or extended reach. Historically, cable-driven systems have been explored for applications in robotics due to their inherent compliance and potential for force control, mimicking the characteristics of biological muscles and tendons. These features are particularly relevant for humanoid robots designed to interact with humans and unstructured environments.
