Design and Experimental Validation of a Macro-Micro Robot With Cable-Driven and Underactuated Joints
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.
Fields of Study & Subjects
Soft Robotics and Applications
Robotic Mechanisms and Dynamics
Control and Dynamics of Mobile Robots
Publication details
- Journal / source
- IEEE Robotics and Automation Letters
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Volume
- 11
- Issue
- 4
- Pages
- 4042–4049
- Publication date
- 13 February 2026
- Language
- EN