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RESEARCH PAPERS

Isotropic Design of Tendon-Driven Manipulators

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

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

J. Mech. Des 118(3), 360-366 (Sep 01, 1996) (7 pages) doi:10.1115/1.2826893 History: Received April 01, 1995; Revised April 01, 1996; Online December 11, 2007

Abstract

This paper deals with the synthesis of mechanical transmission structures for tendon-driven manipulators. Based on static force analysis, necessary conditions are developed for the synthesis of tendon-driven manipulators with isotropic transmission characteristics. It is shown that an n degree-of-freedom (dof) manipulator will possess the isotropic transmission characteristics, if it satisfies two isotropic conditions. Furthermore, a design equation is derived for the construction of isotropic transmission structure matrices and a three-dof spatial manipulator is synthesized to demonstrate the methodology. It is shown that the isotropic design leads to a more uniform tendon force distribution.

Copyright © 1996 by The American Society of Mechanical Engineers
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