structural synthesis of tendon-driven robotic manipulators using singular value decomposition method
Date Issued
2007
Date
2007
Author(s)
Huang, Jyun-Jheng
DOI
zh-TW
Abstract
A systematic methodology for the synthesis of structure matrix of tendon-driven manipulator is developed. In this work, by employing singular value decomposition method, we try to find out the relation between the Jacobian matrix and the structure matrix with a system which has n dof and m tendons. And the structure matrix will have isotropic transmission characteristics. And depend on the relation we find out, the general form of structure matrix will be done. After define the Jacobian matrix, use the characteristics of orthogonal matrix and matrix type we found by DOI, we can synthesize the structure matrices. With the structure matrix, we define the pulley sizes and make the tendon-drive manipulator has isotropic transmission characteristics.
Subjects
腱驅動
奇異值分解
結構矩陣
機器人
合成
tendon-driven
robotic
singular value decomposition
structure matrix
Type
thesis
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