Mechatronics modeling of a branching tendon-driven robot

摘要

This paper presents the mechatronic design of a new tendon-driven manipulator. The new design is capable of many dexterous grasping and manipulation tasks. The principle design is to use the new branching tendons to control bones which are found in musculoskeletal systems. In branching tendons, multiple tendons are connected at a point. Reducing the number of actuators in the branching tendons makes a lightweight arm. The kinematic and the dynamic analysis of the under-actuated manipulator are carried out in a mechatronic simulation. A three link manipulator simulated on contact problem with the disturbance force. The tension in branched tendon is investigated to show the ability of back bone manipulators including the pretension.