Design of Tendon-Driven Manipulators-Reference-Cited by-同舟云学术

Design of Tendon-Driven Manipulators

Published:1995-06-01 Issue:B Volume:117 Page:80-86
ISSN:1048-9002
Container-title:Journal of Vibration and Acoustics
language:en
Short-container-title:

Author:

Tsai Lung-Wen¹

Affiliation:

1. Mechanical Engineering Department and Institute for Systems Research, University of Maryland, College Park, MD 20742

Abstract

This paper presents an overview of the current state-of-the-art in the design of tendon-driven manipulators. A special characteristic associated with tendon-driven manipulators is that tendons can only exert tension but not compression. Based on this unique characteristic, the fundamental mechanics associated with the design of tendon-driven manipulators are reviewed. The review includes structure classification, kinematics, statics, dynamics and control.

Publisher

ASME International

Subject

General Engineering

Link

http://asmedigitalcollection.asme.org/vibrationacoustics/article-pdf/117/B/80/5678107/80_1.pdf

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