Concept of variable transmission for tendon driven mechanism

Author

Hyunki In ; Kyu-Jin Cho

Author_Institution

Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea

fYear

2013

fDate

Oct. 30 2013-Nov. 2 2013

Firstpage

15

Lastpage

16

Abstract

The transmission determines the speed and force of the driven part with respect to the actuator. Because the transmission ratio is generally fixed, the velocity and force of the driven part are in trade off relationship. In this paper, to vary the transmission ratio of the tendon driven links, variable moment arm mechanism is proposed. The moment arm of the wire to the joint is changed according to the increase of the tension of the wire. By the static analysis, the motion and force characteristics of the mechanism is verified. Simulation results show that the rotational joint with the mechanism can rotates faster and generates larger force compared with conventional rotational joints while same actuator is used.

Keywords

force control; manipulators; motion control; tensile strength; velocity control; wires; actuator; force characteristics; motion characteristics; rotational joint; speed; static analysis; tendon driven links; tendon driven mechanism; transmission ratio; variable moment arm mechanism; variable transmission; velocity; wire tension; robotic hand; variable moment arm;

fLanguage

English

Publisher

ieee

Conference_Titel

Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on

Conference_Location

Jeju

Print_ISBN

978-1-4799-1195-0

Type

conf

DOI

10.1109/URAI.2013.6677459

Filename

6677459