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Reinecke, Jens and Chalon, Maxime and Friedl, Werner and 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.
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Abstract
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.
| Item URL in elib: | https://elib.dlr.de/90562/ | ||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||
| Title: | Guiding Effects and Friction Modeling for Tendon Driven Systems | ||||||||||||||||||||
| Authors: |
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| Date: | 5 June 2014 | ||||||||||||||||||||
| Journal or Publication Title: | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||
| Open Access: | No | ||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||||||
| DOI: | 10.1109/ICRA.2014.6907852 | ||||||||||||||||||||
| Status: | Accepted | ||||||||||||||||||||
| Keywords: | Guiding Effects, Friction, Tendon driven | ||||||||||||||||||||
| Event Title: | ICRA 2014 | ||||||||||||||||||||
| Event Location: | Hong Kong | ||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||
| Event Start Date: | 31 May 2014 | ||||||||||||||||||||
| Event End Date: | 5 June 2014 | ||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||
| DLR - Research theme (Project): | R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (old) | ||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) | ||||||||||||||||||||
| Deposited By: | Reinecke, Jens | ||||||||||||||||||||
| Deposited On: | 17 Oct 2014 15:43 | ||||||||||||||||||||
| Last Modified: | 24 Apr 2024 19:56 |
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