Structural synthesis of tendon-driven manipulators having a pseudotriangular structure matrix
Journal
International Journal of Robotics Research
Journal Volume
10
Journal Issue
3
Pages
255-262
Date Issued
1991
Author(s)
Abstract
Tendons have been widely used for power transmission in the field of anthropomorphic manipulating systems. This article deals with the identification and enumeration of the kine matic structure of tendon-driven robotic mechanisms. The structural isomorphism of tendon-driven manipulators is defined, and the structural characteristics of such mechanical systems are described. Applying these structural characteris tics, a methodology for the enumeration of tendon-driven robotic mechanisms is developed. Mechanism structures with up to six degrees of freedom are enumerated.
SDGs
Type
journal article