Workspace Analysis Of Fully Routed Two-Link Tendon-Driven Manipulators

Autor:	Vishal Ramadoss, Keerthi Sagar, Rezia Molfino, Dimiter Zlatanov, Matteo Zoppi
Rok vydání:	2019
Předmět:	Computer Science::Robotics routing Quantitative Biology::Tissues and Organs tendon-driven wrenchclosure bundling
DOI:	10.5281/zenodo.4811591
Popis:	This paper presents workspace analysis of tendon- driven planar serial kinematic chains which allows single-point and multi-point routing with bundling per rigid link. Targeting a musculoskeletal two-link system with different tendon arrangements as a case study, the wrenchclosure and wrench- feasible workspace are evaluated for different configurations. It is observed that, the single-point internally routed chain has more feasible workspace than the externally routed robot with 3 tendons. https://youtu.be/BOdZzOh7Soc
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::87051f1398bef2960736eb66bcd7a58e Zobrazit plný text záznamu