https://scholars.lib.ntu.edu.tw/handle/123456789/65859
Title: | 具撓性腱腱驅動機構動力模式之研究 | Authors: | 李志中 | Keywords: | dynamic analysis;tendon-driven;compliance;recursive;Newton-Euler equations | Issue Date: | 2004 | Publisher: | 臺北市:國立臺灣大學機械工程學系暨研究所 | 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. |
URI: | http://ntur.lib.ntu.edu.tw//handle/246246/15921 | Other Identifiers: | 922218E002038 | Rights: | 國立臺灣大學機械工程學系暨研究所 |
Appears in Collections: | 機械工程學系 |
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922218E002038.pdf | 454.64 kB | Adobe PDF | View/Open |
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