Work

Design and Experimental Validation of a Macro-Micro Robot With Cable-Driven and Underactuated Joints

Year: 2026

Type: article

Abstract: This paper presents the design, modeling, and experimental validation of a macro-micro robot featuring a 2-degrees-of-freedom (DOF) serial underactuated mechanism mounted on a cable-driven pulley. The main contribution consists in demonstrating that, by ensuring a specific mass distribution, the system achieves differential flatness, enabling accurate point-to-point and via-point trajectory planning without feedback from the passive joint. The dynamic model incorporates damping effects and is validated both numerically and experimentally. Results confirm the feasibility and benefits of the proposed system in terms of dexterity, trajectory control, and reduction of workspace occupation, particularly when obstacles are present.

Source: IEEE Robotics and Automation Letters

DOI: 10.1109/lra.2026.3664528

Authors: Michele Tonan, Matteo Bottin, Daniele Businaro, Alberto Doria, Giulio Rosati

Institution: University of Padua

Language: English

Topic: Robotic Mechanisms and Dynamics

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $2,645

Funder: Università degli Studi di Padova