Abstract
A seven degrees-of-freedom manipulator actuated by a tendon drive system has been developed. In order to reduce the weight and volume of the manipulator, each motor was installed on the base frame and the motor torque was transmitted to each joint through a tendon-pulley system. For the tendon drive mechanism, a coupled drive mechanism was introduced, which actuates the manipulator mechanism by controlling the tension of each tendon in the tendon networks designed with coupled tendon structures. In the developed system, eight tendons connected to eight direct-drive motors were used for a seven degrees-of-freedom manipulator. In this paper, the structure of the developed manipulator is first explained. Secondly, the tension based control method for the coupled tendon driven manipulator is formulated. Finally, through simple experiments using the manipulator, the effectiveness of the proposed structure and the control method were demonstrated.
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References
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© 1993 Springer-Verlag London Limited
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Yokoi, K., Komoriya, K., Tanie, K. (1993). Development of a coupled tendon drive manipulator with seven degrees-of-freedom. In: Morecki, A., Bianchi, G., Jaworek, K. (eds) RoManSy 9. Lecture Notes in Control and Information Sciences, vol 187. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0031461
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DOI: https://doi.org/10.1007/BFb0031461
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