| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 89 === This study concerns the wire-configuration design criteria of tendon-driven platforms (TDP). The relationships between wire configuration and the workspace and singularity are investigated, and their examination procedures are developed. Firstly, all possible wire-configurations of different type TDP are enumerated and discussed. The number of tendons needed is discussed for each different situation. Then, the effects of number of tendons as well as the gravity are taken into considerations of the TDP workspace and singularity. After comparing the characteristics of TDP’s with different wire-configurations, finally, the general properties of TDP’s with different wire-configurations are understood, and design criteria, therefore, are summarized and proposed. This work would enhance the understanding of TDP kinematic characteristics, and could be used as a TDP wire-configuration design reference.
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