On the Structural Synthesis of Tendon-Drive Manipulators Having Pseudo-Triangular Structure Matrix.

Abstract

Tendons have been widely used for power transmission in the field of anthropomorphic manipulating systems. This paper deals with the identification and enumeration of the kinematic 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 characteristics, a methodology for the enumeration of tendon-driven robotic mechanisms has been developed. Mechanism structures with up to six degrees of freedom have been enumerated.