• DocumentCode
    3337753
  • Title

    Dexterity measure for tendon actuated parallel mechanisms

  • Author

    Kurtz, Ronald ; Hayward, Vincent

  • Author_Institution
    McGill Res. Center for Intelligent Machines, Montreal, Que., Canada
  • fYear
    1991
  • fDate
    19-22 June 1991
  • Firstpage
    1141
  • Abstract
    The authors look at a class of tendon actuated mechanisms. They show that the conventional dexterity measures used for the analysis of manipulators are not applicable to the tendon case because there are nonlinear elements. They then develop a correct dexterity measure for this type of mechanism.<>
  • Keywords
    actuators; control system analysis; kinematics; manipulators; dexterity measures; force mapping; kinematics; manipulators; nonlinear elements; robotics; tendon actuated parallel mechanisms; Actuators; Bidirectional control; Cables; Force control; Friction; Jacobian matrices; Kinematics; Machine intelligence; Pulleys; Tendons;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
  • Conference_Location
    Pisa, Italy
  • Print_ISBN
    0-7803-0078-5
  • Type

    conf

  • DOI
    10.1109/ICAR.1991.240402
  • Filename
    240402
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3337753