Modeling of the dynamics of tendon-driven robotic mechanisms with flexible tendons

In this paper, a systematic methodology for the dynamic analysis of tendon-driven robotic mechanisms with compliant tendons is presented. The compliance of tendons and inertias of the intermediate links in the mechanism are taken into account. Representing the tendon force by use of a rectifying operator, the unidirectional force transmission characteristic of tendons can be preserved. The dynamic equations can then be systematically established in a recursive manner using the Newton–Euler equations. 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-driven robotic mechanisms.