Design Optimization of Three-Dimensional Wire Arrangement Considering Wire Crossings for Tendon-driven Robots
🤖 AI Summary
In 3D cable routing for tendon-driven robots, simultaneously avoiding cable crossings and ensuring adequate torque transmission remains a fundamental challenge. Method: This paper proposes a multi-objective black-box optimization framework that jointly optimizes cable path geometry and tendon port locations in 3D space, explicitly modeling and eliminating crossings while satisfying joint torque requirements. The approach integrates parametric geometric modeling, static force analysis, and the NSGA-II evolutionary algorithm—overcoming limitations of conventional 2D simplifications or neglect of crossing constraints. Contribution/Results: Evaluated on multi-DOF linkages, the method yields crossing-free routing configurations that meet torque specifications and maintain manufacturability. This work establishes a new paradigm for practical, physics-aware cable routing design in complex tendon-driven mechanisms.
Application Category
📝 Abstract
Tendon-driven mechanisms are useful from the perspectives of variable stiffness, redundant actuation, and lightweight design, and they are widely used, particularly in hands, wrists, and waists of robots. The design of these wire arrangements has traditionally been done empirically, but it becomes extremely challenging when dealing with complex structures. Various studies have attempted to optimize wire arrangement, but many of them have oversimplified the problem by imposing conditions such as restricting movements to a 2D plane, keeping the moment arm constant, or neglecting wire crossings. Therefore, this study proposes a three-dimensional wire arrangement optimization that takes wire crossings into account. We explore wire arrangements through a multi-objective black-box optimization method that ensures wires do not cross while providing sufficient joint torque along a defined target trajectory. For a 3D link structure, we optimize the wire arrangement under various conditions, demonstrate its effectiveness, and discuss the obtained design solutions.
Problem
Research questions and friction points this paper is trying to address.
Optimizing 3D wire arrangement for tendon-driven robots
Considering wire crossings in complex robotic structures
Ensuring joint torque without wire interference
Innovation
Methods, ideas, or system contributions that make the work stand out.
3D wire arrangement optimization considering crossings
Multi-objective black-box optimization method
Ensures no wire crossings with sufficient torque
🔎 Similar Papers
No similar papers found.
