Design and Experimental Validation of a Macro-Micro Robot With Cable-Driven and Underactuated Joints
Michele Tonan, Matteo Bottin, Daniele Businaro, Alberto Doria, Giulio Rosati
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.
BibTeX
@inproceedings{ral2026_designandexperim,
title = {Design and Experimental Validation of a Macro-Micro Robot With Cable-Driven and Underactuated Joints},
author = {Michele Tonan and Matteo Bottin and Daniele Businaro and Alberto Doria and Giulio Rosati},
booktitle = {RA-L 2026},
year = {2026}
}