Mechanical Stiffness Control of Tendon Driven Multi-DOF joint by the Actuator with Non Linear Elastic System

• Koganezawa Koichi

  Tokai Univ.

• Shimizu Yuki

  Tokai Univ.

Bibliographic Information

Other Title

• 非線形弾性システムを有するアクチュエータを用いたけん駆動多自由度関節の機械式剛性制御
• ヒセンケイ ダンセイ システム オ ユウスル アクチュエータ オ モチイタ ケンクドウ タジユウド カンセツ ノ キカイシキ ゴウセイ セイギョ

Abstract

This paper presents a method for mechanical stiffness control of the Tendon-Driven joints of manipulator. A system fundamentally mimicking a skeletal muscle system requires a non-linear elastic element to regulate stiffness of a joint. One proposes a new actuator having a non-linear elastic element, which is called ANLES. This system gives us a free-hand for designing the elastic characteristics. At first this paper describes the equations for designing the elastic characteristics of ANLES. Next the basic formula for controlling the stiffness and posture of the multi-D.O.F. joints by multiple-ANLES throughout tendons is derived. It follows the computer simulation of 3 D.O.F. joint that is manipulated by 6 tendons or 8 tendons. The performance of controlling stiffness is evaluated by depicting stiffness ellipsoid.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 22 (8), 1043-1049, 2004

  The Robotics Society of Japan

Keywords

• Stiffness
• Tendon-driven
• Non-linear Elasticity

Details

• CRID: 1390282679702605952
• NII Article ID: 10014034081
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.22.1043
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 7224785
• Web Site: http://id.ndl.go.jp/bib/7224785
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I7224785
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed