The design of a tendon-sheath-driven robot

Q3 Computer Science

International Journal of Intelligent Systems Technologies and Applications Pub Date : 2008-12-01 DOI:10.1504/IJISTA.2010.030201

Tian Fuxiang, Wang Xingsong

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引用次数: 13

Abstract

In some cases, tendon-sheath transmission systems were used to transmit power into work places through complex paths, such as the small narrow crevices possibly existed in the ruins of disasters or complex pipelines. Thus, the tendon-sheath systems might work in arbitrarily curved shape. Based on the results in constant curvature, the transmission characteristics of tendon-sheath in arbitrarily curved shape were investigated in this paper. It was showed that the transmission characteristics were independent of the tendon torsion. By considering static balance of a differential tendon element with Coulomb friction, the transmission characteristics were formulated in terms of total curvature and friction coefficient. The experiment results showed that the formulas of the transmission characteristics were correct only when the change of the input force was slow enough, which was inconsistent with the static balance assumption during formulation. A robot with a tendon-sheath transmission system was designed, which could finish some dexterous actions in the narrow spaces.

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一种肌腱鞘驱动机器人的设计

在某些情况下，肌腱鞘输电系统通过复杂的路径将电力输送到工作场所，例如可能存在于灾害废墟或复杂管道中的狭窄裂缝。因此，肌腱鞘系统可能以任意弯曲的形状工作。本文在恒曲率的基础上，研究了任意弯曲形状下腱鞘的传输特性。结果表明，传动特性与肌腱扭转无关。考虑具有库仑摩擦的差分索单元的静力平衡，用总曲率和摩擦系数来表示其传递特性。实验结果表明，只有当输入力的变化足够慢时，传动特性公式才正确，这与制定时的静平衡假设不一致。设计了一种具有肌腱鞘传动系统的机器人，可以在狭窄的空间内完成一些灵巧的动作。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Intelligent Systems Technologies and Applications Computer Science-Computer Science (all)

CiteScore

1.30

自引率

0.00%

发文量

期刊介绍： Intelligent systems refer broadly to computer embedded or controlled systems, machines and devices that possess a certain degree of intelligence. IJISTA, a peer-reviewed double-blind refereed journal, publishes original papers featuring innovative and practical technologies related to the design and development of intelligent systems. Its coverage also includes papers on intelligent systems applications in areas such as manufacturing, bioengineering, agriculture, services, home automation and appliances, medical robots and robotic rehabilitations, space exploration, etc. Topics covered include: -Robotics and mechatronics technologies- Artificial intelligence and knowledge based systems technologies- Real-time computing and its algorithms- Embedded systems technologies- Actuators and sensors- Mico/nano technologies- Sensing and multiple sensor fusion- Machine vision, image processing, pattern recognition and speech recognition and synthesis- Motion/force sensing and control- Intelligent product design, configuration and evaluation- Real time learning and machine behaviours- Fault detection, fault analysis and diagnostics- Digital communications and mobile computing- CAD and object oriented simulations.