DocumentCode
292391
Title
An investigation of the transmission system of a tendon driven robot hand
Author
Nahvi, Ali ; Hollerbach, John M. ; Xu, Yangming ; Hunter, Ian W.
Author_Institution
Biorobotics Lab., McGill Univ., Montreal, Que., Canada
Volume
1
fYear
1994
fDate
12-16 Sep 1994
Firstpage
202
Abstract
The transmission system of the Utah/MIT Dextrous Hand (UMDH) is investigated theoretically and experimentally. It is shown that the friction of the routing pulleys is not negligible and should be considered in the force control of the UMDH. In the frequency range of the pneumatic actuators (80 Hz), tendons act like springs and the first mode of the tendons is above that frequency range
Keywords
actuators; force control; manipulators; pneumatic control equipment; 80 Hz; Utah/MIT Dextrous Hand; force control; friction; pneumatic actuators; routing pulleys; tendon driven robot hand; transmission system; Fingers; Force control; Frequency; Friction; Hysteresis; Pulleys; Robots; Stability; Tendons; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location
Munich
Print_ISBN
0-7803-1933-8
Type
conf
DOI
10.1109/IROS.1994.407390
Filename
407390
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