Design of Tendon-Driven Mechanism Using Geometrical Condition
A tendon-driven robot offers many advantages, such as easy designs for mass distribution that facilitate dexterous motion. A procedure to design such a robot using a single actuator to achieve the desired force direction and magnitude on an endpoint is presented herein. The force on the endpoint is...
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-06-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/9/3/48 |
| _version_ | 1797563641608798208 |
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| author | Takashi Takuma |
| author_facet | Takashi Takuma |
| author_sort | Takashi Takuma |
| collection | DOAJ |
| description | A tendon-driven robot offers many advantages, such as easy designs for mass distribution that facilitate dexterous motion. A procedure to design such a robot using a single actuator to achieve the desired force direction and magnitude on an endpoint is presented herein. The force on the endpoint is generated by the single actuator and a wire that passes through pulleys attached on links. To set the pulley position for the desired force direction and magnitude, a geometrical condition is proposed. To evaluate the proposed method, a physical monopod robot was developed. We compared the calculated and physical forces on the endpoint of the physical robot for the desired directions. Finally, we confirmed that the proposed method provided the desired force on the endpoint without iterative trials. |
| first_indexed | 2024-03-10T18:46:20Z |
| format | Article |
| id | doaj.art-4c440e04a174458ea384c2998fcca0cf |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-10T18:46:20Z |
| publishDate | 2020-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-4c440e04a174458ea384c2998fcca0cf2023-11-20T05:28:37ZengMDPI AGActuators2076-08252020-06-01934810.3390/act9030048Design of Tendon-Driven Mechanism Using Geometrical ConditionTakashi Takuma0Department of Electric and Electrical System Engineering, Osaka Institute of Technology, Osaka 5358585, JapanA tendon-driven robot offers many advantages, such as easy designs for mass distribution that facilitate dexterous motion. A procedure to design such a robot using a single actuator to achieve the desired force direction and magnitude on an endpoint is presented herein. The force on the endpoint is generated by the single actuator and a wire that passes through pulleys attached on links. To set the pulley position for the desired force direction and magnitude, a geometrical condition is proposed. To evaluate the proposed method, a physical monopod robot was developed. We compared the calculated and physical forces on the endpoint of the physical robot for the desired directions. Finally, we confirmed that the proposed method provided the desired force on the endpoint without iterative trials.https://www.mdpi.com/2076-0825/9/3/48tendon-driven robotpulley positionoperation of direction and amount of force at endpoint |
| spellingShingle | Takashi Takuma Design of Tendon-Driven Mechanism Using Geometrical Condition Actuators tendon-driven robot pulley position operation of direction and amount of force at endpoint |
| title | Design of Tendon-Driven Mechanism Using Geometrical Condition |
| title_full | Design of Tendon-Driven Mechanism Using Geometrical Condition |
| title_fullStr | Design of Tendon-Driven Mechanism Using Geometrical Condition |
| title_full_unstemmed | Design of Tendon-Driven Mechanism Using Geometrical Condition |
| title_short | Design of Tendon-Driven Mechanism Using Geometrical Condition |
| title_sort | design of tendon driven mechanism using geometrical condition |
| topic | tendon-driven robot pulley position operation of direction and amount of force at endpoint |
| url | https://www.mdpi.com/2076-0825/9/3/48 |
| work_keys_str_mv | AT takashitakuma designoftendondrivenmechanismusinggeometricalcondition |