Hostname: page-component-7479d7b7d-qlrfm Total loading time: 0 Render date: 2024-07-12T04:26:14.007Z Has data issue: false hasContentIssue false
  • English
  • Français

Kinematic synthesis of tendon-driven robotic manipulators using singular value decomposition

Published online by Cambridge University Press:  11 March 2009

Jinn-Biau Sheu ,
Jyun-Jheng Huang  and
Jyh-Jone Lee
Jinn-Biau Sheu
Affiliation:
Department of Mechanical Engineering, National Taiwan University, Taipei 106, Taiwan
Jyun-Jheng Huang
Affiliation:
Department of Mechanical Engineering, National Taiwan University, Taipei 106, Taiwan
Jyh-Jone Lee*
Affiliation:
Department of Mechanical Engineering, National Taiwan University, Taipei 106, Taiwan
*
*Corresponding author. E-mail: jjlee@ntu.edu.tw
Get access Rights & Permissions [Opens in a new window]

Summary

This work describes a systematic methodology for the synthesis of tendon-driven manipulators. A method for enumerating the topology of tendon routings is first established. To conform with the enumerated structures, the kinematic synthesis of the manipulator using singular value decomposition is then developed. Design equations for synthesizing a general tendon-driven manipulator with isotropic transmission characteristics are subsequently derived. It is shown that the design methodology may give designers wider selection in determining the tendon routing topology than prior methods by other literature.

Keywords

Tendon-driven manipulatorSingular value decompositionStructure matrixIsotropic transmissionDesign
Type
Article
Information
Robotica , Volume 28 , Issue 1 , January 2010 , pp. 1 - 10
Copyright
Copyright © Cambridge University Press 2009

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Morecki, A., Busko, Z., Gasztold, H. and Jaworek, K., “Synthesis and Control of the Anthropomorphic Two-Handed Manipulator,” Proceedings of 10th International Symposium on Industrial Robots, Milan, Italy (1980) pp. 461–474.Google Scholar
2.Salisbury, J. K., Kinematic and Force Analysis of Articulated Hands Ph.D. Dissertation (Stanford, CA: Department of Mechanical Engineering, Stanford University, 1982).Google Scholar
3.Tsai, L. W. and Lee, J. J., “Kinematic analysis of tendon-driven robotic mechanisms using graph theory,” ASME J. Mech. Trans. Automat. Des. 111 (1), 59–65 (1989).CrossRefGoogle Scholar
4.Jacobsen, S. C., Ko, H., Iversen, E. K. and Davis, C. C., “Control strategies for tendon-driven manipulators,” IEEE Contr. Syst. Mag. 10 (2), 23–28 (Feb. 1990).CrossRefGoogle Scholar
5.Hollars, M. G. and Cannon, R. H., “Initial Experiments on the End-point Control of A Two-link Manipulator with Flexible Tendons,” ASME Winter Annual Meeting, Miami, FL (1985)Google Scholar
6.Oh, S., Ryu, J. and Agrawal, K., “Dynamics and control of helicopters with a six-cables suspended robot,” ASME J. Mech. Des. 128, 1113–1121 (2006).CrossRefGoogle Scholar
7.Lee, Y. H. and Lee, J. J., “Modeling of the dynamics of tendon-driven robotic mechanisms with flexible tendons,” Mech. Mach. Theory 38 (12), 1431–1447 (2003).CrossRefGoogle Scholar
8.Prisco, G. M. and Bergamasco, M., “Dynamic Modeling of a Class of Tendon Driven Manipulators,” Proceedings of IEEE International Conference on Robotics and Automation, Monterey, CA (1997).Google Scholar
9.Voglewede, P. A. and Ebert-Uphoff, I., “Application of the antipodal grasp theorem to cable-driven robots,” IEEE Trans. Rob. 21 (4), 713–718 (2005).CrossRefGoogle Scholar
10.Barrette, G. and Gosselin, C., “Determination of the dynamic workspace of cable-driven planar parallel mechanisms,” ASME J. Mech. Des. 127 (2), 242–248 (2005).CrossRefGoogle Scholar
11.Diao, X. and Ma, O., “A method of verifying the force-closure condition for general cable manipulators with seven cables,” Mech. Mach. Theory 42 (12), 1563–1576 (2007).CrossRefGoogle Scholar
12.Bar-Cohen, Biomometics, Biologically Inspired Technologies (CRC Press Taylor & Francis Group, FL, 2006) pp. 267–290.Google Scholar
13.Lee, Jyh-Jone and Tsai, Lung-Wen, “The structural synthesis of tendon-driven manipulators having a pseudotriangular structure matrix,” J. Rob. Res. 10 (3), 255–262 (1991).CrossRefGoogle Scholar
14.Yoshikawa, T., “Dynamic Manipulability of Robot Manipulators,” IEEE International Conference on Robotics and Automation. Proceedings (Mar. 1985) pp. 1033–1038.Google Scholar
15.Chiacchio, P. and Concilio, M., “The Dynamic Manipulability Ellipsoid for Redundant Manipulators,” Proceedings of IEEE International Conference on Robotics and Automation, Leuven, Belgium (1998) pp. 95–100.Google Scholar
16.Lee, Jyh-Jone and Tsai, Lung-Wen, “Topological Analysis of Tendon-Driven Manipulators,” Eight World Congress on The Theory of Machines and Mechanism, Prague, Czechoslovakia (Aug. 1991) pp. 479–482.Google Scholar
17.Ou, Yeong-Jeong and Tsai, Lung-Wen, “Kinematic synthesis of tendon-driven manipulators with isotropic transmission characteristics,” ASME J. Mech. Des. 115 884–891 (1993).CrossRefGoogle Scholar
18.Chen, Dar-Zen, Su, Jiun-Chin and Yao, Kang-Li, “A decomposition approach for the kinematic synthesis of tendon-driven manipulators,” J. Rob. Syst. 16 (8), 433–443 (1999).3.0.CO;2-B>CrossRefGoogle Scholar
19.Tsai, L. W., Robot Analysis–-The Mechanics of Serial and Parallel Manipulators (John Wiley & Sons, Inc., 1999).Google Scholar
20.Huang, Jyun-Jheng, Structural Synthesis of Tendon-Driven Robotic Manipulators Using Singular Value Decomposition Method, MS Thesis (Taiwan: Department of Mechanical Engineering, National Taiwan University, 2007).Google Scholar
21.Leon, Steven J., Linear Algebra with Applications, 6th ed. (Prentice Hall, Inc., New Jersey, U.S.A. 2002).Google Scholar