Kinematic analysis of tendon driven robot mechanism for heavy weight handling

This paper addresses the kinematic analysis of tendon driven manipulator for handling heavy weight. Contrary to elementary N, N + 1 or 2N type tendon manipulators, this paper propose a specific N + 2 type robot manipulator for handling heavy weight. Necessary kinematics and statics issues are discussed. A more extended N + a type can be designed if more freedom for load distribution to tendons is sought. Numerical examples are given to confirm the validity of the analysis.