Abstract
Through static force analysis, a design methodology is developed to determine the tendon routings and pulley sizes of a particular three-dof tendon-driven manipulator. This design methodology ensures that all tendons subject to equal maximum tensions in its entire workspace when an external force is applied at the end-effector in all possible orientations. The design is further enhanced when the criteria of isotropic transmission are imposed. An example is presented to demonstrate the features and to compare with the Stanford/JPL finger.
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© 1994 Springer Science+Business Media Dordrecht
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Ou, YJ., Tsai, LW. (1994). Design of a Three-dof Tendon-driven Manipulator with the Characteristics of Equal Maximum Tensions. In: Lenarčič, J., Ravani, B. (eds) Advances in Robot Kinematics and Computational Geometry. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-8348-0_37
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DOI: https://doi.org/10.1007/978-94-015-8348-0_37
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-4434-1
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