Design of the new modular tendon-driven manipulator TENDRIM

摘要：

This paper presents a concept for the design of hyper-redundant manipulators utilizing stages of spatial links with remote tendon actuation. This methodology is illustrated by the prototype of a new tendon-driven modular manipulator (TENDRIM). The TENDRIM is composed of three stages of completely restrained, tendon-driven parallel mechanisms featuring two rotatory DOF each. A workspace analysis for a single stage and the resulting TENDRIM is given. This prototype demonstrates the potential of the proposed concept and the derived family of light-weight, highly maneuverable manipulators for assembly applications.

作者: Yevgen Sklyarenko Frank Schreiber Michael Kolbus Frank Wobbe Walter Schumacher

作者单位: Institute of Control Engineering,TU Braunschweig,Hans-Sommer-Str.66,38106 Braunschweig,Germany

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 574-579

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）