肌腱驱动机械手传动系统的研究

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI:10.1109/IROS.1994.407390

A. Nahvi, J. Hollerbach, Yangming Xu, I. Hunter

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引用次数: 34

摘要

对Utah/MIT灵巧手(UMDH)的传输系统进行了理论和实验研究。研究结果表明，滚动轮的摩擦是不可忽略的，在自动转臂机构的力控制中应予以考虑。在气动执行器的频率范围内(80hz)，筋的作用类似于弹簧，筋的第一模态高于该频率范围。

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An investigation of the transmission system of a tendon driven robot hand

The transmission system of the Utah/MIT Dextrous Hand (UMDH) is investigated theoretically and experimentally. It is shown that the friction of the routing pulleys is not negligible and should be considered in the force control of the UMDH. In the frequency range of the pneumatic actuators (80 Hz), tendons act like springs and the first mode of the tendons is above that frequency range.<>

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)

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