A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2018; you can also visit the original URL.
The file type is
Proceedings of the 2016 International Conference on Electrical, Mechanical and Industrial Engineering
A new kinematics rapid modeling method for N-degree-of-freedom (DOF) serial tendon-driven robotic mechanisms with N, N+1, and 2N configurations is proposed in this paper. Introducing the tendon-routing matrix (TRM) and equivalent radius matrix (ERM), which gotten by observing the routing topology of tendons, it is shown that all tendon routing can be described by two simple matrixes. The basic kinematic of tendon-driven robotic mechanism can be obtained by TRM and ERM. To avoid slackness indoi:10.2991/icemie-16.2016.73 fatcat:qvb63qv4cfaovltw7pckcd53uy