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Paper ThDT15.5

Jeong, Hyunhwan (Korea University), youngsu, cho (Korea University), Kang, Bong ki (Korea University), Cheong, Joono (Korea University), Son, Youngsu (Korea Institute of Machinery & Materials (KIMM))

Stiffness Characteristics of New Modular Type Antagonistic Tendon-Driven Joint Systems

Scheduled for presentation during the Regular session "Tendon/Wire Mechanisms" (ThDT15), Thursday, October 1, 2015, 15:00−15:15, Saal A1

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Tendon/Wire Mechanisms, Joint/Mechanism Design, Flexible Arms

Abstract

This paper presents a new antagonistic tendon-driven joint (TDJ) which has an advantage of enhanced stiffness characteristics. Detailed mathematical analyses on the stiffness of typical TDJs are worked out to compare the stiffness among them. Prototypes of the proposed TDJ design are introduced in the form of packaged modular structure that merges two TDJs generating a combined roll-pitch motion or similar ones. Numerical examples are given to confirm the superior stiffness of the proposed TDJ design.

 

 

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