Dynamic Analysis of Tendon-Driven Robotic Mechanisms

• Main Authors: Yueh-Hua Li, 李岳樺
• Other Authors: Jyh-Jone Lee
• Format: Others
• Language: en_US
• Published: 2002
• Online Access: http://ndltd.ncl.edu.tw/handle/92219868204420977291

碩士 === 國立臺灣大學 === 機械工程學研究所 === 90 === In this paper, a systematic methodology for the dynamic analysis of tendon-driven robotic mechanisms is presented. The approach utilizes the recursive Newton-Euler equations to compute the kinematic and dynamic equations of all links that locate on the transmission line of a tendon-driven robotic mechanism. The compliance of tendons and inertias of the intermediate links in the mechanism are taken into account. Representing the tendon force by use of an O+ operator, the unidirectional force transmission characteristic of tendons is preserved and the dynamic equations can be systematically established. It is shown that the dynamic equations can be established in a recursive manner from the end-effector links toward the proximal links. The joint reaction forces and the tension in each segment of tendon can be also obtained. The methodology can be applied to both endless and open-ended tendon-drives.