Loading...
Distributed modeling and torque transmission analysis of a cable-driven robotic joint
Li, Yu Sadeghian, Hamid Forouhar, Moein Naceri, Abdeldjallil Haddadin, Sami
Li, Yu
Sadeghian, Hamid
Forouhar, Moein
Naceri, Abdeldjallil
Haddadin, Sami
Files
Supervisor
Department
Robotics
Embargo End Date
Type
Journal article
Date
License
http://creativecommons.org/licenses/by/4.0/
Language
English
Collections
Research Projects
Organizational Units
Journal Issue
Abstract
Cable-driven actuation provides spatial flexibility for remote power transmission and offers inherent mechanical compliance. However, torque transmission is compromised by coupled nonlinear phenomena, including distributed friction, curvature-induced normal forces, pretension redistribution, and elasticity-induced hysteresis. Existing models typically address only a subset of these effects or depend on empirical mappings, thereby limiting their predictive accuracy for torque-level integration. In this work, we model a dual-cable tendon–sheath transmission as a bidirectionally coupled dynamic subsystem and develop a distributed spring–friction-unit formulation that explicitly links routing geometry, pretension, and distal dynamics to transmitted torque, hysteresis, and apparent stiffness variation. To facilitate practical deployment, we derive a reduced analytical representation through model-order reduction combined with a curvature-informed averaged-pretension approximation, and assess its validity via discretization-sensitivity analysis. Experiments on two dedicated dual-cable joint testbeds validate torque prediction across diverse routing and loading conditions and demonstrate partial feedforward friction compensation that enhances interaction transparency. Practical limitations and deployment considerations are also discussed.
Citation
Y. Li, H. Sadeghian, M. Forouhar, A. Naceri, S. Haddadin, "Distributed modeling and torque transmission analysis of a cable-driven robotic joint," Mechatronics, vol. 117, pp. 103517-103517, 2026, https://doi.org/10.1016/j.mechatronics.2026.103517.
Source
Mechatronics
Conference
Keywords
40 Engineering, 4007 Control Engineering, Mechatronics and Robotics
Subjects
Source
Publisher
Elsevier