Design of Tendon-Driven Manipulators
Author:
- 1 June 1995
- journal article
- Published by ASME International in Journal of Vibration and Acoustics
- Vol. 117 (B) , 80-86
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 only exert tension but 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.Keywords
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