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Torque and workspace analysis for flexible tendon driven mechanisms

Chalon, Maxime and Wimboeck, Thomas and 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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Abstract

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.

Document Type:Conference or Workshop Item (Paper)
Title:Torque and workspace analysis for flexible tendon driven mechanisms
Authors:
AuthorsInstitution or Email of Authors
Chalon, Maximemaxime.chalon@dlr.de
Wimboeck, ThomasUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:3 May 2010
Page Range:pp. 1175-1181
ISSN:1050-4729
ISBN:978-1-4244-5038-1
Status:Published
Keywords:Workspace analysis, stiffness adjustable system, flexible joint mechanisms, tendon driven systems
Event Title:IEEE International Conference on Robotics and Automation (ICRA), 2010
Event Location:Anchorage, AK
Event Type:international Conference
Event Dates:3-7 May 2010
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Leistungszentrum Robotik - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Maxime Chalon
Deposited On:11 Jan 2011 09:50
Last Modified:12 Dec 2013 21:12

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