The design of tendon-driven manipulators with isotropic transmission characteristics
- Univ. of Maryland, College Park, MD (United States)
This paper deals with the synthesis of the mechanical power transmission structure in tendon-driven manipulators. Based on the analysis of static force transmission from the actuator space to the end-effector space, a general theory is developed for the synthesis of tendon-driven manipulators with isotropic transmission characteristics. It is shown that an n-dof (degree of freedom) manipulator can possess these characteristics if it is made-up of n+1 or 2n tendons and if its link lengths and pulley sizes are designed according to two equations of constraint. Two examples are used to demonstrate the theory. It is shown that manipulators with an isotropic transmission structure do have more uniform force distribution among their tendons.
- Research Organization:
- Argonne National Lab. (ANL), Argonne, IL (United States)
- OSTI ID:
- 103001
- Report Number(s):
- CONF-9404137-; ON: DE94017694; TRN: 95:003483-0019
- Resource Relation:
- Conference: 12. symposium on energy engineering sciences, Argonne, IL (United States), 27-29 Apr 1994; Other Information: PBD: [1994]; Related Information: Is Part Of Proceedings of the Twelfth Symposium on Energy Engineering Sciences: Fluid/thermal systems and dynamics; PB: 298 p.
- Country of Publication:
- United States
- Language:
- English
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