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Torque and workspace analysis for flexible tendon driven mechanisms

Chalon, Maxime und Wimboeck, Thomas und Hirzinger, Gerd (2010) Torque and workspace analysis for flexible tendon driven mechanisms. IEEE International Conference on Robotics and Automation (ICRA), 2010, 3-7 May 2010, Anchorage, AK. ISBN 978-1-4244-5038-1. ISSN 1050-4729

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Kurzfassung

Tendon driven mechanisms have been considered in robotic design for several decades. They provide lightweight end effectors with high dynamics. Using remote actuators it is possible to free more space for mechanics or electronics. Nevertheless, lightweight mechanism are fragile and unfortunately their control software can not protect them during the very first instant of an impact. Compliant mechanisms address this issue, providing a mechanical low pass filter, increasing the time available before the controller reacts. Using adjustable stiffness elements and an antagonistic architecture, the joint stiffness can be adjusted by variation of the tendon pre-tension. In this paper, the fundamental equations of m antagonistic tendon driven mechanisms are reviewed. Due to limited tendon forces the maximum torque and the maximum acheivable stiffness are dependent. This implies, that not only the torque workspace, or the stiffness workspace must be considered but also their interactions. Since the results are of high dimensionality, quality measures are necessary to provide a synthetic view. Two quality measures, similar to those used in grasp planning, are presented. They both provide the designer with a more precise insight into the mechanism.

Dokumentart:Konferenzbeitrag (Paper)
Titel:Torque and workspace analysis for flexible tendon driven mechanisms
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Chalon, Maximemaxime.chalon@dlr.de
Wimboeck, ThomasNICHT SPEZIFIZIERT
Hirzinger, GerdNICHT SPEZIFIZIERT
Datum:3 Mai 2010
Seitenbereich:Seiten 1175-1181
ISSN:1050-4729
ISBN:978-1-4244-5038-1
Status:veröffentlicht
Stichwörter:Workspace analysis, stiffness adjustable system, flexible joint mechanisms, tendon driven systems
Veranstaltungstitel:IEEE International Conference on Robotics and Automation (ICRA), 2010
Veranstaltungsort:Anchorage, AK
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:3-7 May 2010
Veranstalter :IEEE
HGF - Forschungsbereich:Verkehr und Weltraum (alt)
HGF - Programm:Weltraum (alt)
HGF - Programmthema:W SY - Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Weltraum
DLR - Forschungsgebiet:W SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):W - Leistungszentrum Robotik - Mechatronik und Telerobotik (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik > Robotersysteme
Hinterlegt von: Maxime Chalon
Hinterlegt am:11 Jan 2011 09:50
Letzte Änderung:12 Dez 2013 21:12

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