| 摘要 |
A robotic mechanical manipulator structure includes a first link, a second link rotatably coupled to the first link, a first cable connected between the first link and the second link and coupled to the first link by a spring anchored to the first link, passing through cable guides on the first link and the second link and anchored to the second link, and a second cable connected between the first link and the second link and anchored to the first link, passing through cable guides on the first link and the second link and coupled to an actuator. The cables each have a length selected to provide a selected range of motion between the second link at a selected angle with respect to the first link when the actuator is in a rest position. The cable guides are formed from a high hardness material. |
