Identification and Control of a 3-X Cable-Driven Manipulator Inspired From the Bird’s Neck

Abstract This paper is devoted to the control and identification of a manipulator with three anti-parallelogram joints in series, referred as X-joints. Each X-joint tensegrity one-degree-of-freedom mechanism antagonistically actuated cables springs parallel. As compared manipulators built simple revolute offer number advantages, such an intrinsic stability, variable stiffness, lower inertia. design was inspired by musculosleketon architecture bird’s neck, which known be very dextrous. A test-bed prototype presented used test computed torque laws. Friction cable elasticity are modeled identified. Their effect on performance laws analyzed. It shown that context antagonistic actuation lightweight design, friction plays leading role significance modeling discussed.