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Guiding Effects and Friction Modeling for Tendon Driven Systems

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, May 31 to June 5, Hong Kong.

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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/
Document Type:Conference or Workshop Item (Speech)
Title:Guiding Effects and Friction Modeling for Tendon Driven Systems
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Reinecke, Jensjens.reinecke (at) dlr.deUNSPECIFIED
Chalon, Maximemaxime.chalon (at) dlr.deUNSPECIFIED
Friedl, Wernerwerner.friedl (at) dlr.deUNSPECIFIED
Markus, Grebensteinmarkus.grebenstein (at) dlr.deUNSPECIFIED
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
Status:Accepted
Keywords:Guiding Effects, Friction, Tendon driven
Event Title:ICRA 2014
Event Location:Hong Kong
Event Type:international Conference
Event Dates:May 31 to June 5
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
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:09 Feb 2017 19:20

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