The Structural Synthesis of Tendon-Driven Manipulators Having a Pseudotriangular Structure Matrix

Lee, Jyh‐Jone; Tsai, Lung-Wen

doi:10.1177/027836499101000306

Cited by 64 publications

(32 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Endless and openlooped cables are frequently used to consist of the kinematic structures [1]. Here, we focus on mechanisms only with open-looped cables and called them tendon-driven mechanisms (TDM) since TDMs are robotic systems inspired by musculoskeletal systems, where muscles only pull tendons.…”

Section: Introductionmentioning

confidence: 99%

Design of tendon-driven mechanisms for fault tolerance from tendon-breaking by using centroid vectors

Ozawa

Kobayashi

Hyodo

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

Tendon-driven mechanisms (TDMs) are mechanisms driven by more tendons than joints. This tendon redundancy is often used for changing the hardware compliance. In contrast, in this paper, the redundancy is used for coping with unexpected tendon breaking. We analyze kinematics of a class of TDMs with asymmetrically spanned tendons and modify it to design a TDM that preserves the controllability even if at least one of the tendons is broken. We validate the proposed method to design several TDMs.

show abstract

Section: Introductionmentioning

confidence: 99%

Design of tendon-driven mechanisms for fault tolerance from tendon-breaking by using centroid vectors

Ozawa

Kobayashi

Hyodo

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

show abstract

“…[7]. More general configurations composed by nets of tendons and actuators were presented in [8], while dexterity measures under unilateral constraint imposed by tendons were investigated in [9].…”

Section: Introductionmentioning

confidence: 99%

Dynamic optimization of tendon tensions in biomorphically designed hands with rolling constraints

Gabiccini

Branchetti

Bicchi

2011

2011 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

Biomorphic structures for robotic manipulation based on tendon-driven mechanisms have been considered in robotic design for several decades, since they provide lightweight end-effectors with high dynamics. Following this trend, many new robot designs have being proposed based on tendon driven systems. Quite noticeably, the most advanced ones include also higher kinematic pairs and unilateral types of constraints.In this paper, we present a general framework for modeling the above class of mechanical systems for robotic manipulation. Such systems, including biomorphically designed devices, consist of articulated limbs with redundant tendinous actuation and unilateral rolling constraints. Methods based on convex analysis are applied to attack this broader class of mechanisms, and are shown to provide a basis for the dynamic control of co-contraction and internal forces that guarantee the correct operation of the system, despite limited friction between contacting surfaces or object fragility. An algorithm is described and tested that integrates a computed torque law, and allows to control tendon actuators to "optimally" comply with the prescribed constraints.

show abstract

“…Kinematics of full-actuated TDMs have been analysed and classified [10], [15], [16] and [17], however as concern as the authors know, kinematics of under-actuated TDMs has not been analysed clearly yet. The kinematics of soft gripper [1] and [2] are completely different from underactuated mechanisms, such as Refs.…”

Section: Introductionmentioning

confidence: 99%

Design and control of underactuated tendon-driven mechanisms

Ozawa

Hashirii

Kobayashi

2009

2009 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

Many robotic hands or prosthetic hands have been developed in the last several decades, and many use tendondriven mechanisms for their transmissions. Robotic hands are now built with underactuated mechanisms, which have fewer actuators than degrees of freedom, to reduce mechanical complexity or to realize a biomimetic motion such as flexion of an index finger. The design is heuristic and it is useful to develop design methods for the underactuated mechanisms. This paper classifies mechanisms driven by tendons into three classes, and proposes a design method for them. The two classes are related to underactuated tendon-driven mechanisms, and these have been used without distinction so far. An index finger robot, which has four active tendons and two passive tendons, is developed and controlled with the proposed method.

show abstract

The Structural Synthesis of Tendon-Driven Manipulators Having a Pseudotriangular Structure Matrix

Cited by 64 publications

References 5 publications

Design of tendon-driven mechanisms for fault tolerance from tendon-breaking by using centroid vectors

Design of tendon-driven mechanisms for fault tolerance from tendon-breaking by using centroid vectors

Dynamic optimization of tendon tensions in biomorphically designed hands with rolling constraints

Design and control of underactuated tendon-driven mechanisms

Contact Info

Product

Resources

About