The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Generalized Graph Representation of Tendon Driven Robot Mechanism

텐던 구동 로봇 메커니즘의 일반화된 그래프 표현

  • Cho, Youngsu (Control & Instrumentation Engineering, Korea University) ;
  • Cheong, Joono (Control & Instrumentation Engineering, Korea University) ;
  • Kim, Doohyung (Korea Institute of Machinery and Materials)
  • Received : 2014.05.08
  • Accepted : 2014.07.04
  • Published : 2014.08.28
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Abstract

Tendon driven robot mechanisms have many advantages such as allowing miniaturization and light-weight designs and/or enhancing flexibility in the design of structures. When designing or analyzing tendon driven mechanisms, it is important to determine how the tendons should be connected and whether the designed mechanism is easily controllable. Graph representation is useful to view and analyze such tendon driven mechanisms that are complicatedly interconnected between mechanical elements. In this paper, we propose a method of generalized graph representation that provides us with an intuitive analysis tool not only for tendon driven manipulators, but also various other kinds of mechanical systems which are combined with tendons. This method leads us to easily obtain structure matrix - which is the one of the most important steps in analyzing tendon driven mechanisms.

Keywords

References

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