Results 171 to 180 of about 20,798 (201)
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A Method to Investigate Vibrations in Tendon Driven Mechanisms
Volume 5: 19th Biennial Conference on Mechanical Vibration and Noise, Parts A, B, and C, 2003In this paper the authors develop a mechanical model to analyze the vibrational behavior of tendon driven mechanisms. The description of kinematics makes use of the correspondence between graphs and mechanisms, based on the works of L.W. Tsai and J.J. Lee [1–4], and on Denavithartenberg approach to study serial manipulators [5,6].
F. Londi, P. P. Valentini, L. Vita
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Compliance and Dynamic Analysis of Tendon-Driven Robotic Mechanisms
19th Design Automation Conference: Volume 1 — Mechanical System Dynamics; Concurrent and Robust Design; Design for Assembly and Manufacture; Genetic Algorithms in Design and Structural Optimization, 1993Abstract The stiffness and compliance matrices of tendon-driven robotic mechanisms have been derived in this paper. Position compensation for external force/moment based on the system compliance has also been developed. Using a stretchable tendon model, dynamic equations are systematically generated.
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Bilateral control method for tendon-driven mechanism considering wire elongation
IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society, 2012Tendon-driven rotary actuators are utilized in various robots because they are small and high output. However, if the tendon-driven rotary actuators are utilized in bilateral control system, there are two problems. The first problem is interference. Bilateral control systems with tendon-driven mechanisms require decoupling of angle tracking, torque ...
Takahiro Nozaki +2 more
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Design of a passive brake mechanism for tendon driven devices
International Journal of Precision Engineering and Manufacturing, 2012Tendon driven mechanism is one of the most popular mechanism for transmitting force and power from a distance. The energy efficiency of a tendon driven system can be improved if it can maintain actuation force while it is not moving without mechanical work.
SungKu Kang, HyunKi In, Kyu-Jin Cho
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Motion control for 2-DOF tendon-driven spherical joint mechanisms
IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society, 2012This research treats a tendon-driven spherical joint mechanism. At most, tendon-driven spherical joint mechanisms have three rotational degrees of freedom in one joint. Moreover, the mechanisms are lightweight and simple. As a result, the mechanisms are suited for transmission of force sensation by bilateral control.
Keita Shimamoto, Kouhei Ohnishi
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Kinematic Analysis of Tendon Driven Mechanisms Using Signal Flow Graphs
Volume 1: 21st Design Automation Conference, 1995Abstract The application of signal flow graphs has been applied to the kinematic analysis of tendon driven mechanisms. Signal flow graphs have been used in the many areas particularly in the area of control for determining the closed-loop function of a control system.
M. Chew +2 more
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RoboGlove: Design of a Tendon-Driven Robotic Glove with Differential Mechanisms
2019 7th International Conference on Robotics and Mechatronics (ICRoM), 2019Stroke and spinal cord injury (SCI) are two main causes of human upper-limb movement impairments. In this paper, the design of a soft robotic glove with tendon actuation for rehabilitation purposes of the human hand is presented. This robotic glove called KNTU RoboGlove is designed based on differential mechanisms.
Mehran Abbasi, S. Ali A. Moosavian
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Kinematic analysis of tendon driven robot mechanism for heavy weight handling
2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2015This paper addresses the kinematic analysis of tendon driven manipulator for handling heavy weight. Contrary to elementary N, N + 1 or 2N type tendon manipulators, this paper propose a specific N + 2 type robot manipulator for handling heavy weight. Necessary kinematics and statics issues are discussed.
Youngsu Cho +2 more
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Hamiltonian Formulation of the Constrained Dynamics of a Tendon Driven Parallel Mechanism
2002This paper presents an Hamiltonian formulation of the constrained dynamics of a novel tendon driven parallel mechanism. The mechanism is a 2-dof closed 5-bar linkage actuated through a special tendon drive which enhances the kinematic isotropy of the system.
FRISOLI, Antonio, BERGAMASCO, Massimo
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Mechanical Stiffness Control of Tendon-Driven Joints.
Journal of the Robotics Society of Japan, 2000Koichi Koganezawa +2 more
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