Kinematic analysis of tendon-driven robotic mechanisms using graph theory

The correspondence between the graph representation of the kinematic structure and the mechanism has been established. The kinematic structure of tendon-driven kinematic chains is similar to that of epicyclic gear trains. Using the concept of fundamental circuits, the displacement equations of tendon-driven robotic mechanisms can be systematically derived from the kinematic structure. The theory has been demonstrated by the kinematic analysis of three articulated robotic devices.