Patent ID: 8083460

Claim:
A cable-driven manipulator comprising: an operating unit having a drive motor, and a pulley rotated by the drive motor; an upper arm coupled, using a first joint at one end of the upper arm, to one side of the operating unit and receiving power transmitted from the operating unit; a forearm coupled, using a second joint, to the other end of the upper arm and receiving power transmitted from the operating unit; an end effector operably coupled to the forearm; a first cable mounted in the operating unit, the first cable transmitting the power of the operating unit to the end effector, the first cable wound between the end effector and the drive motor; and a cable compensation device between the upper arm and the forearm that maintains constant a length of the first cable during pivoting of the forearm, wherein the cable compensation device comprises: a first pulley rotatably mounted on a first axis that is fixed to the upper arm where the upper arm and the forearm are coupled using the second joint; a first rotating body integrated with the first pulley so as to interlock with the forearm; a third pulley rotatably mounted on a third axis that is separated at a predetermined interval horizontally lengthwise of the upper arm in the first rotating body; a second rotating body integrated with the third pulley so as to interlock with the first rotating body; and a second pulley fixedly mounted on a second axis that is inserted in a slot formed between the first pulley and the third pulley so that the second pulley can move along the upper arm, and a fourth pulley connected to the second axis on which the first cable is wound separately from the first pulley and the third pulley respectively, and wherein the first, second and third pulleys all have the same radii, the first rotating body and the second rotating body are interlocked by a link connected pivotably therewith; and the first rotating body having an extended plate shape with one side coupled to the forearm and the other side pivotably coupled to the first axis, and wherein the second rotating body having an extended plate shape is pivotably coupled to the third axis to which the third pulley is coupled, and wherein the first and second rotating bodies are pivotably connected by the link and the first, second and third pulleys are interconnected by a second cable.