Next Article in Journal
Analysis of the Possibilities of Using a Driver’s Brain Activity to Pneumatically Actuate a Secondary Foot Brake Pedal
Previous Article in Journal
Proposal of an Equal-Stiffness and Equal-Stroke 2D Micro-Positioning Platform Driven by Piezoelectric Actuators
Open AccessArticle

Design of Tendon-Driven Mechanism Using Geometrical Condition

Department of Electric and Electrical System Engineering, Osaka Institute of Technology, Osaka 5358585, Japan
Actuators 2020, 9(3), 48; https://doi.org/10.3390/act9030048
Received: 24 April 2020 / Revised: 18 June 2020 / Accepted: 22 June 2020 / Published: 30 June 2020
(This article belongs to the Section Actuators for Robotics)
A tendon-driven robot offers many advantages, such as easy designs for mass distribution that facilitate dexterous motion. A procedure to design such a robot using a single actuator to achieve the desired force direction and magnitude on an endpoint is presented herein. The force on the endpoint is generated by the single actuator and a wire that passes through pulleys attached on links. To set the pulley position for the desired force direction and magnitude, a geometrical condition is proposed. To evaluate the proposed method, a physical monopod robot was developed. We compared the calculated and physical forces on the endpoint of the physical robot for the desired directions. Finally, we confirmed that the proposed method provided the desired force on the endpoint without iterative trials. View Full-Text
Keywords: tendon-driven robot; pulley position; operation of direction and amount of force at endpoint tendon-driven robot; pulley position; operation of direction and amount of force at endpoint
Show Figures

Figure 1

MDPI and ACS Style

Takuma, T. Design of Tendon-Driven Mechanism Using Geometrical Condition. Actuators 2020, 9, 48.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Search more from Scilit
 
Search
Back to TopTop