Development of a Bilateral Tendon-wires actuated Joint Module with Compliance Controls

• Main Authors: Tsung-Chin Tsai, 蔡宗親
• Other Authors: Chung-Hsien Kuo
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/37284180090796301701

碩士 === 國立臺灣科技大學 === 電機工程系 === 100 === This study presents the mechanical design and control schemes of a bilateral tendon-wires-actuated joint (BTWAJ) module for robotic applications. The proposed BTWAJ module is developed by referring the biomechanics of the human beings which is inspired from the bilateral antagonistic actuation of muscle fibers to achieve similar joint control characteristics, as well as to eliminate the mechanical backlash. Therefore, the BTWAJ joint module does not only exhibit accurate joint angular position control performance, but also achieve stiffness adjustments of joints in terms of controlling the tension fore of bilateral tendon wires to perform compliance control schemes. Finally, the BTWAJ module is implemented in this study. A BTWAJ control system is also developed to control the angular position and the stiffness as well. Furthermore, several experiments were done and discussed to verify the approaches.