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Kinematic synthesis of tendon-driven robotic manipulators using singular value decomposition

Published online by Cambridge University Press:  11 March 2009

Jinn-Biau Sheu ,
Jyun-Jheng Huang  and
Jyh-Jone Lee
Jinn-Biau Sheu
Affiliation:
Department of Mechanical Engineering, National Taiwan University, Taipei 106, Taiwan
Jyun-Jheng Huang
Affiliation:
Department of Mechanical Engineering, National Taiwan University, Taipei 106, Taiwan
Jyh-Jone Lee*
Affiliation:
Department of Mechanical Engineering, National Taiwan University, Taipei 106, Taiwan
*
*Corresponding author. E-mail: jjlee@ntu.edu.tw
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Summary

This work describes a systematic methodology for the synthesis of tendon-driven manipulators. A method for enumerating the topology of tendon routings is first established. To conform with the enumerated structures, the kinematic synthesis of the manipulator using singular value decomposition is then developed. Design equations for synthesizing a general tendon-driven manipulator with isotropic transmission characteristics are subsequently derived. It is shown that the design methodology may give designers wider selection in determining the tendon routing topology than prior methods by other literature.

Keywords

Tendon-driven manipulatorSingular value decompositionStructure matrixIsotropic transmissionDesign
Type
Article
Information
Robotica , Volume 28 , Issue 1 , January 2010 , pp. 1 - 10
Copyright
Copyright © Cambridge University Press 2009

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