JYH-JONE LEE2018-09-102018-09-101988http://www.scopus.com/inward/record.url?eid=2-s2.0-0024168464&partnerID=MN8TOARShttp://scholars.lib.ntu.edu.tw/handle/123456789/339362https://www.scopus.com/inward/record.uri?eid=2-s2.0-0024168464&partnerID=40&md5=1aac6edea1b3a8dc7a5b8ce6d6e0ea87The 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.Kinematics; Mechanisms; Graph Theory; Kinematic Chains; Robots, Industrialconference paper2-s2.0-0024168464