Compliance and Dynamic Analysis of Tendon-Driven Robotic Mechanisms

摘要

Abstract The stiffness and compliance matrices of tendon-driven robotic mechanisms have been derived in this paper. Position compensation for external force/moment based on the system compliance has also been developed. Using a stretchable tendon model, dynamic equations are systematically generated. Natural frequencies and mode shapes of this class of mechanisms have been analyzed through local linearization of its dynamic equations.