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Design of Tendon-Driven Mechanism by Using Geometrical Condition

Takashi Takuma and Fumiya Kitaura
Department of Engineering, Osaka Institute of Technology, Osaka, Japan

Abstract— A tendon-driven robot has an advantage of setting mass distribution and facilitation of the motion and so on. This paper explains a procedure of designing the tendon-driven robot using single actuator. The joint torque is generated by the single actuator and wire that passes through the pulleys attached on the links. In order to setting pulley position, a geometrical condition to realize the desired motion is adopted. For evaluation of the proposed method, a physical monopod robot is developed for vertical jumping. We compared calculated and physical force on the contacting point of the robot, and observed the jumping motion.

Index Terms—tendon driven mechanism, geometrical condition, Jacobian matrix

Cite: Takashi Takuma and Fumiya Kitaura, "Design of Tendon-Driven Mechanism by Using Geometrical Condition," International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 5, pp. 759-763, May 2020. DOI: 10.18178/ijmerr.9.5.759-763

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.