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Design and Modeling of a 2-DOF Cable-Driven Parallel Wrist Mechanism

This paper proposes a novel design of 2-DOF Cable- Driven Parallel Wrist Mechanism (CDPWM). This mechanism can achieve hemispherical movement in space which has a unconventional twin actuation. The configuration has a great flexibility (with no singular points within the entire motion range), and a large stiffness of 1.07 × 106 Nmm/rad. This work utilized a vector analysis method to establish the kinematic model of this construction and the stiffness performance of the mechanism was also analyzed. The proposed model can deeply simplify the kinematics solution of this type of cable driven system with a maximum position error of 0.03 mm. Based on this method, the velocity Jacobian of the mechanism was also constructed. Then the stiffness of the mechanism was theoretically modeled, and validated through the finite element method (FEM).