The Structural Synthesis of Tendon-Driven Manipulators Having a Pseudotriangular Structure Matrix
- 1 June 1991
- journal article
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 10 (3) , 255-262
- https://doi.org/10.1177/027836499101000306
Abstract
Tendons have been widely used for power transmission in the field of anthropomorphic manipulating systems. This article deals with the identification and enumeration of the kine matic structure of tendon-driven robotic mechanisms. The structural isomorphism of tendon-driven manipulators is defined, and the structural characteristics of such mechanical systems are described. Applying these structural characteris tics, a methodology for the enumeration of tendon-driven robotic mechanisms is developed. Mechanism structures with up to six degrees of freedom are enumerated.Keywords
This publication has 5 references indexed in Scilit:
- Kinematic Analysis of Tendon-Driven Robotic Mechanisms Using Graph TheoryJournal of Mechanical Design, 1989
- An Application of the Linkage Characteristic Polynomial to the Topological Synthesis of Epicyclic Gear TrainsJournal of Mechanical Design, 1987
- The UTAH/M.I.T. Dextrous Hand: Work in ProgressThe International Journal of Robotics Research, 1984
- An Application of Boolean Algebra to the Motion of Epicyclic DrivesJournal of Engineering for Industry, 1971
- Synthesis of kinematic structure of geared kinematic chains and other mechanismsJournal of Mechanisms, 1970