Design of a weight-compensated and coupled tendon-driven articulated long-reach manipulator

A weight-compensated and coupled tendon-driven mechanism which is a combination of the existing two mechanisms is proposed and its static control is discussed. This mechanism allows the long-reach manipulator with very small actuators by applying one thick tendon to a coupled tendon-driven mechanism...

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Bibliographic Details
Published in2016 IEEE/SICE International Symposium on System Integration (SII) pp. 598 - 603
Main Authors Horigome, Atsushi, Endo, Gen, Suzumori, Koichi, Nabae, Hiroyuki
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2016
Subjects
Actuators
Bars
Manipulators
Pulleys
Tendons
Torque
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ISSN2474-2325
DOI10.1109/SII.2016.7844064

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Summary:A weight-compensated and coupled tendon-driven mechanism which is a combination of the existing two mechanisms is proposed and its static control is discussed. This mechanism allows the long-reach manipulator with very small actuators by applying one thick tendon to a coupled tendon-driven mechanism. Static control of tension was investigated and the solution which derives the tension of the joint controlling tendons and the weight-compensating tendon from the arm posture was proposed. Moreover, tendon tension on three types of the proposed mechanism is simulated in six postures. The weight-compensation sometimes requires large tension of the joint controlling tendons, however, it reduces tendons tension under around 2 kN basically.
ISSN:2474-2325
DOI:10.1109/SII.2016.7844064