Topological Analysis of Tendon-Driven Manipulators

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dc.contributor.authorLee, Jyh-Joneen_US
dc.contributor.authorTsai, L.W.en_US
dc.contributor.departmentISRen_US
dc.date.accessioned2007-05-23T09:46:11Z
dc.date.available2007-05-23T09:46:11Z
dc.date.issued1990en_US
dc.description.abstractThis paper investigates the effect of tendon routing on kinematic and static force transmission associated with tendon-driven manipulators. The transmission characteristics can be described by the velocity and/or force ellipsoid. We have shown that the effect of tendon routing can be characterized by a condition number and the direction of a homogeneous solution. The condition number is defined as the ratio of the maximum to the minimum singular value of the structure matrix and the homogeneous solution is the set of tendon forces that results in no net joint torques. A methodology for calculating maximum tensions in a tendon-driven manipulator has been developed. We have also shown that among the various tendon routings in three- DOF manipulators, the one with an isotropic transmission ellipsoid possesses minimal maximum tendon force.en_US
dc.format.extent629052 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/5003
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1990-55en_US
dc.subjectkinematicsen_US
dc.subjectroboticsen_US
dc.subjectIntelligent Servomechanismsen_US
dc.titleTopological Analysis of Tendon-Driven Manipulatorsen_US
dc.typeTechnical Reporten_US

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