Romansy 14 pp 39-48 | Cite as

Hamiltonian Formulation of the Constrained Dynamics of a Tendon Driven Parallel Mechanism

  • Antonio Frisoli
  • Massimo Bergamasco
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)


This 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. The dynamic equations of the system are derived considering the additional degrees of freedom generated by the compliance of the tendon drive. The linearizable and zero-dynamics of the system are shown.


Parallel Mechanism Hamiltonian Formulation Generalize Momentum Haptic Interface Linear Stiffness 
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Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Antonio Frisoli
    • 1
  • Massimo Bergamasco
    • 1
  1. 1.Scuola Superiore S. AnnaPERCROPisaItaly

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