Saidi, Shiraz (2022) Workspace characterization of tendon-driven continuum joints. Bachelorarbeit, Munich University of Applied Sciences.
PDF
- Nur DLR-intern zugänglich
2MB |
Kurzfassung
This bachelor thesis focuses on the implementation of an experimental study that examines different parameters of the kinematics of a continuum joint and their impact on the achievable working space. For this purpose, a continuum joint is fixed on a test rig and stressed with concentrated loads. The loads are applied in different tendon arrangements in order to compare them with each other. From this, the characterization of the tendon-influencing factors on the continuum and the resulting position of the end effector takes place. One of the most important engineering parameters in rope-driven continuum robots is the number of tendons and the distribution of tendon loads. The study to select the appropriate positioning of tendons is independent of the material of the continuum. It was possible to obtain an overview of the different characteristics and the influence of the tendons to obtain the largest possible working space for future applications.
elib-URL des Eintrags: | https://elib.dlr.de/191507/ | ||||||||
---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Hochschulschrift (Bachelorarbeit) | ||||||||
Titel: | Workspace characterization of tendon-driven continuum joints | ||||||||
Autoren: |
| ||||||||
Datum: | 30 Oktober 2022 | ||||||||
Referierte Publikation: | Nein | ||||||||
Open Access: | Nein | ||||||||
Seitenanzahl: | 81 | ||||||||
Status: | veröffentlicht | ||||||||
Stichwörter: | Soft RObotics, Continuum Mechanisms, Tendon-driven Robots | ||||||||
Institution: | Munich University of Applied Sciences | ||||||||
Abteilung: | Department of Mechanical Engineering | ||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||
HGF - Programm: | Raumfahrt | ||||||||
HGF - Programmthema: | Robotik | ||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Roboterdynamik & Simulation [RO] | ||||||||
Standort: | Oberpfaffenhofen | ||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||
Hinterlegt von: | Deutschmann, Dr. -Ing. Bastian | ||||||||
Hinterlegt am: | 02 Dez 2022 08:18 | ||||||||
Letzte Änderung: | 02 Dez 2022 08:18 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags