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


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
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In