具撓性腱腱驅動機構動力模式之研究
Date Issued
2004
Date
2004
Author(s)
DOI
922218E002038
Abstract
In this paper, a systematic methodology for the dynamic analysis of tendon-driven
robotic mechanisms with compliant tendons is presented. The compliance of tendons and
inertias of the intermediate links in the mechanism are taken into account. Representing the
tendon force by use of a rectifying operator, the unidirectional force transmission
characteristic of tendons can be preserved. The dynamic equations can then be systematically
established in a recursive manner using the Newton-Euler equations. The joint reaction forces
and the tension in each segment of tendon can be also obtained. The methodology can be
applied to both endless and open-ended tendon-driven robotic mechanisms.
Subjects
dynamic analysis
tendon-driven
compliance
recursive
Newton-Euler equations
Publisher
臺北市：國立臺灣大學機械工程學系暨研究所
Type
report
File(s)![Thumbnail Image]()
Loading...
Name
922218E002038.pdf
Size
454.64 KB
Format
Adobe PDF
Checksum
(MD5):59d17a208158c27bec66cb6f1327320f