Cart (Loading....) | Create Account
Close category search window
 

Coupled tendon-driven multijoint manipulator

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Hirose, S. ; Dept. of Mech. Sci., Tokyo Inst. of Technol., Japan ; Ma, S.

A coupled tendon-driven manipulator called the CT arm is introduced, an its control is discussed. The CT arm has a specific tendon traction force transmission mechanism in which a pair of tendons for driving a joint are pulled from base actuators via pulleys mounted on the base-side joints. The mechanism makes the most of the coupled drive function of the tendon traction forces and thus can exhibit enormous payload capability. The CT arm is solidly structured and can be inexpensively manufactured because of its mechanical simplicity. A control algorithm which minimizes the square sum of the traction force of tendons while satisfying given restrictions is introduced. The validity of the control method is shown by computer simulation

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.