Title :
Dexterity measure for tendon actuated parallel mechanisms
Author :
Kurtz, Ronald ; Hayward, Vincent
Author_Institution :
McGill Res. Center for Intelligent Machines, Montreal, Que., Canada
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;
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
DOI :
10.1109/ICAR.1991.240402
