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On the fail-safe design of tendon-driven manipulators with redundant tendons
| Content Provider | Semantic Scholar |
|---|---|
| Author | Sheu, Jinn-Biau Liu, Tyng Lee, Jyh-Jone |
| Copyright Year | 2012 |
| Abstract | A tendon-driven manipulator having redundant tendons may possess more flexibility in operation, such as optimizing the performance of tendons, reducing the burden of each tendon, and providing fail-safe features. The purpose of this paper is to investigate the design of tendon-driven manipulators with a fail-safe feature, that is, to synthesize a system that may still remain controllable as any of the tendons have broken down or malfunctioned. Characteristics of tendon-driven manipulators are briefly discussed. Criteria for tendon-driven manipulators with redundant tendons and fail-safe feature are then established. Subsequently, constraints for such system are derived from the structure of tendon-driven manipulator. Associated with the criteria, manipulators can remain controllable when any of the tendons fails to function. Finally, a geometric method for determining the structure is developed. Examples of two-DOF and three-DOF tendondriven manipulators are demonstrated. |
| Starting Page | 1911 |
| Ending Page | 1920 |
| Page Count | 10 |
| File Format | PDF HTM / HTML |
| DOI | 10.1007/s12206-012-0409-4 |
| Volume Number | 26 |
| Alternate Webpage(s) | http://www.j-mst.org/On_line/admin/files/30-J2011-1424_1911-1920_.pdf |
| Alternate Webpage(s) | https://doi.org/10.1007/s12206-012-0409-4 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
