Driving and control of a multi joint robot arm by wire-pulley system

As a driving device, wire- pulley system is employed. It enables the weight of a multi joint robot arm to lighten and to have flexibility in motion. One link is driven by a pair of wires wounded by two motors or a couple of a motor and an electromagnetic clutch. The input forces that originate in the tension of the wire are incorporated in the mathematical model for the robot arm that has three degrees of freedom. LQI control is applied on the model and the experiments are performed bases on the strategy. Simulation results show that this system has the antagonistic effect.