Dynamic modelling of a class of tendon driven manipulators

This paper deals with the n-DOF serial manipulators which have n rotary actuators located on the base link, each driving a revolute joint via a pair of opposed tendons. With a Lagrangian approach, the dynamic equations of such class of manipulators are derived. In particular it is investigated how the torques and angular displacement of the actuators are related to those of the joints. In addition to rigid link dynamics and DC electrical motor dynamics, the present work takes also into account the viscous-elastic properties of the tendons, the inertia of the pulleys guiding the tendons and the fact that the tendon transmission driving a joint is routed over all the precedent joints. The proposed analysis is especially the design of high performance tendon driven manipulators.