Design of Tendon-Driven Manipulators

Abstract

This paper presents an overview of the current state-of-the-art in the design of tendon-driven manipulators. A special characteristic associated with tendon-driven manipulators is that tendons can exert only tension, not compression. Based on this unique characteristic, the fundamental mechanics associated with the design of tendon-driven manipulators are reviewed. The review includes structure classification, kinematics, statics, dynamics and control.