Matteo Bottin

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

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 sys