Kinematic modeling and analysis of a 4-DOF cable-driven robotic arm

Abstract

Cable-driven robotic arms provide advantages over traditional robot arms, including lower inertia moment, improved safety, and greater dynamic flexibility. This paper presents the design, modeling, control, and experimental validation of a 4-degrees of freedom cable-driven robotic arm. The work first develops theoretical kinematic and dynamic models of the system. It then implements real-time control strategies to support accurate robot motion. The actuation system combines direct-drive and cable-driven mechanisms and uses CAN communication protocols for efficient motor control. MATLAB Simscape Multibody simulations were used to analyze the kinematic behavior of the robot. Experimental tests were conducted to evaluate displacement accuracy and contact force response under different operating conditions. The results showed that cable-driven actuation can achieve high-speed and accurate motion, although cable elasticity and tension variation remain challenges. Overall, this research provides a comprehensive framework for the design and control of cable-driven robotic arms and suggests future work on advanced control and adaptive tensioning methods.