The Structural Synthesis of Tendon-Driven Manipulators Having a Pseudotriangular Structure Matrix

• Jyh-Jone Lee

  Mechanical Engineering Department and Systems Research Center University of Maryland College Park, Maryland 20742

• Lung-Wen Tsai

  Mechanical Engineering Department and Systems Research Center University of Maryland College Park, Maryland 20742

抄録

Tendons have been widely used for power transmission in the field of anthropomorphic manipulating systems. This article deals with the identification and enumeration of the kine matic 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 characteris tics, a methodology for the enumeration of tendon-driven robotic mechanisms is developed. Mechanism structures with up to six degrees of freedom are enumerated.

収録刊行物

• The International Journal of Robotics Research

  The International Journal of Robotics Research 10 (3), 255-262, 1991-06

  SAGE Publications

キーワード

• Applied Mathematics
• Artificial Intelligence
• Electrical and Electronic Engineering
• Mechanical Engineering
• Modeling and Simulation
• Software

詳細情報

• CRID: 1360576285445412992
• NII論文ID: 30026157538
• DOI: 10.1177/027836499101000306
• ISSN: 17413176
• ISSN: 02783649
• Web Site: http://journals.sagepub.com/doi/pdf/10.1177/027836499101000306
• データソース種別:
  • Crossref
  • CiNii Articles