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RESEARCH PAPERS

Design of Tendon-Driven Manipulators

[+] Author and Article Information
Lung-Wen Tsai

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

J. Mech. Des 117(B), 80-86 (Jun 01, 1995) (7 pages) doi:10.1115/1.2836474 History: Received November 01, 1994; Online January 24, 2008

Abstract

This paper presents an overview of the current state-of-the-art in the design of tendon-driven manipulators. A special characteristic associated with tendon-driven manipulators is that tendons can only exert tension but not compression. Based on this unique characteristic, the fundamental mechanics associated with the design of tendon-driven manipulators are reviewed. The review includes structure classification, kinematics, statics, dynamics and control.

Copyright © 1995 by The American Society of Mechanical Engineers
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