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Workspace characterization of tendon-driven continuum joints

Saidi, Shiraz (2022) Workspace characterization of tendon-driven continuum joints. Bachelor's, Munich University of Applied Sciences.

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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.

Item URL in elib:https://elib.dlr.de/191507/
Document Type:Thesis (Bachelor's)
Title:Workspace characterization of tendon-driven continuum joints
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:30 October 2022
Refereed publication:No
Open Access:No
Number of Pages:81
Keywords:Soft RObotics, Continuum Mechanisms, Tendon-driven Robots
Institution:Munich University of Applied Sciences
Department:Department of Mechanical Engineering
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Deutschmann, Dr. -Ing. Bastian
Deposited On:02 Dec 2022 08:18
Last Modified:02 Dec 2022 08:18

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