Kinematic Synthesis of Tendon-Driven Manipulators with Isotropic Transmission Characteristics

[+] Author and Article Information
Yeong-Jeong Ou, Lung-Wen Tsai

Mechanical Engineering Department and Institute for Systems Research, University of Maryland, College Park, MD 20742

J. Mech. Des 115(4), 884-891 (Dec 01, 1993) (8 pages) doi:10.1115/1.2919283 History: Received October 01, 1992; Revised April 01, 1993; Online June 02, 2008


This paper presents a methodology for kinematic synthesis of tendon-driven manipulators with isotropic transmission characteristics. The force transmission characteristics, from the end-effector space to the actuator space, has been investigated. It is shown that tendon forces required to act against externally applied forces are functions of the structure matrix, its null vector, and the manipulator Jacobian matrix. Design equations for synthesizing a manipulator to possess isotropic transmission characteristics are derived. It is shown that manipulators which possess isotropic transmission characteristics have much better force distribution among their tendons.

Copyright © 1993 by The American Society of Mechanical Engineers
Topics: Manipulators
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