Reinecke, Jens und Chalon, Maxime und Friedl, Werner und Markus, Grebenstein (2014) Guiding Effects and Friction Modeling for Tendon Driven Systems. In: IEEE International Conference on Robotics and Automation (ICRA). ICRA 2014, 2014-05-31 - 2014-06-05, Hong Kong. doi: 10.1109/ICRA.2014.6907852.
PDF
- Nur DLR-intern zugänglich
652kB |
Kurzfassung
Abstract—This paper discusses tendon friction effects regarding guiding and material selection. In order to extract valuable information for designers of tendon driven systems, several experiments are conducted to investigate e. g. the intrinsic friction or sliding effect. The results are used to build an experimental friction model and to derive a set of guidelines. The mechanical designer can use the proposed models to anticipate the friction for a given tendon path. Additionally, the guidelines help the mechanical designer to systematically verify the numerous constraints involved in the design process of a tendon driven system.
elib-URL des Eintrags: | https://elib.dlr.de/90562/ | ||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Guiding Effects and Friction Modeling for Tendon Driven Systems | ||||||||||||||||||||
Autoren: |
| ||||||||||||||||||||
Datum: | 5 Juni 2014 | ||||||||||||||||||||
Erschienen in: | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||
DOI: | 10.1109/ICRA.2014.6907852 | ||||||||||||||||||||
Status: | akzeptierter Beitrag | ||||||||||||||||||||
Stichwörter: | Guiding Effects, Friction, Tendon driven | ||||||||||||||||||||
Veranstaltungstitel: | ICRA 2014 | ||||||||||||||||||||
Veranstaltungsort: | Hong Kong | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 31 Mai 2014 | ||||||||||||||||||||
Veranstaltungsende: | 5 Juni 2014 | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (alt) | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||
Hinterlegt von: | Reinecke, Jens | ||||||||||||||||||||
Hinterlegt am: | 17 Okt 2014 15:43 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 19:56 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags