A humanoid robotic arm with seven degrees of freedom (DOF) designed using a modular architecture and actuated by cables offers a unique combination of flexibility, dexterity, and potential cost-effectiveness. Each module, typically encompassing a single joint or a functional group of components, can be designed, manufactured, and tested independently. Cable-driven actuation transmits forces from remotely located motors to the joints via cables, often enabling a lighter arm structure with potentially higher speeds and a reduced distal mass.
This approach provides significant advantages. Modularity simplifies maintenance and repair as individual modules can be easily replaced. It also facilitates customization, allowing the arm to be reconfigured for different tasks or applications by adding, removing, or exchanging modules. Cable actuation contributes to a safer human-robot interaction environment by enabling inherent compliance. Historically, cable-driven systems have faced challenges related to cable tensioning and control complexity. However, advancements in materials science, control algorithms, and sensor technology are mitigating these issues, making cable-driven robotic arms increasingly viable for a wider range of applications.
