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

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dc.contributor.authorLee, Jyh-Joneen_US
dc.contributor.authorTsai, L.W.en_US
dc.contributor.departmentISRen_US
dc.date.accessioned2007-05-23T09:42:30Z
dc.date.available2007-05-23T09:42:30Z
dc.date.issued1988en_US
dc.description.abstractTendons 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.en_US
dc.format.extent1609737 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/4832
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1988-106en_US
dc.titleOn the Structural Synthesis of Tendon-Drive Manipulators Having Pseudo-Triangular Structure Matrix.en_US
dc.typeTechnical Reporten_US

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