DC 欄位 | 值 | 語言 |
dc.contributor | 國立臺灣大學機械工程學系暨研究所 | zh_TW |
dc.contributor.author | 李志中 | zh_TW |
dc.creator | 李志中 | - |
dc.date | 2004 | zh_TW |
dc.date.accessioned | 2006-07-25T11:42:40Z | - |
dc.date.accessioned | 2018-06-28T17:36:06Z | - |
dc.date.available | 2006-07-25T11:42:40Z | - |
dc.date.available | 2018-06-28T17:36:06Z | - |
dc.date.issued | 2004 | - |
dc.identifier | 922218E002038 | zh_TW |
dc.identifier.uri | http://ntur.lib.ntu.edu.tw//handle/246246/15921 | - |
dc.description.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. | en |
dc.format | application/pdf | zh_TW |
dc.format.extent | 465552 bytes | - |
dc.format.mimetype | application/pdf | - |
dc.language | zh-TW | zh_TW |
dc.language.iso | zh_TW | - |
dc.publisher | 臺北市:國立臺灣大學機械工程學系暨研究所 | zh_TW |
dc.rights | 國立臺灣大學機械工程學系暨研究所 | zh_TW |
dc.subject | dynamic analysis | zh_TW |
dc.subject | tendon-driven | zh_TW |
dc.subject | compliance | zh_TW |
dc.subject | recursive | zh_TW |
dc.subject | Newton-Euler equations | zh_TW |
dc.title | 具撓性腱腱驅動機構動力模式之研究 | zh_TW |
dc.type | report | en |
dc.identifier.uri.fulltext | http://ntur.lib.ntu.edu.tw/bitstream/246246/15921/1/922218E002038.pdf | - |
dc.coverage | 計畫年度:93;起迄日期:2003-08-01/2004-07-31 | zh_TW |
item.openairecristype | http://purl.org/coar/resource_type/c_93fc | - |
item.openairetype | report | - |
item.languageiso639-1 | zh_TW | - |
item.grantfulltext | open | - |
item.cerifentitytype | Publications | - |
item.fulltext | with fulltext | - |
crisitem.author.dept | Mechanical Engineering | - |
crisitem.author.orcid | 0000-0002-9418-4300 | - |
crisitem.author.parentorg | College of Engineering | - |
顯示於: | 機械工程學系
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