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System and method for tensioning a robotically actuated tendon
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Copyright Year | 2013 |
| Description | A tendon tensioning system includes a tendon having a proximal end and a distal end, an actuator, and a motor controller. The actuator may include a drive screw and a motor, and may be coupled with the proximal end of the tendon and configured to apply a tension through the tendon in response to an electrical current. The motor controller may be electrically coupled with the actuator, and configured to provide an electrical current having a first amplitude to the actuator until a stall tension is achieved through the tendon; provide a pulse current to the actuator following the achievement of the stall tension, where the amplitude of the pulse current is greater than the first amplitude, and return the motor to a steady state holding current following the conclusion of the pulse current. |
| File Size | 768072 |
| Page Count | 11 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_20150003174 |
| Archival Resource Key | ark:/13960/t51g5pt26 |
| Language | English |
| Publisher Date | 2013-12-31 |
| Access Restriction | Open |
| Subject Keyword | Electronics And Electrical Engineering Cybernetics, Artificial Intelligence And Robotics Patents Actuators Degrees of Freedom Joints Junctions Robot Control Feedback Control Robot Dynamics Tendons Connectors Tension End Effectors Servomotors Electric Current Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Patent |
