The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Forearm Mechanism Inspired by Ligamentous Structure and Its Mobility Analysis

인대 구조에서 기인한 전완 메커니즘과 자유도 해석

  • Received : 2022.03.24
  • Accepted : 2022.04.19
  • Published : 2022.05.31
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Abstract

In this paper, a forearm Mechanism design inspired by ligamentous structure of the human body is proposed. The proposed mechanism consists of four rigid bodies and fourteen wires without any mechanical joints. Actually, the mechanism is based on the concept of the tensegrity structure. Therefore, the proposed mechanism has inherently compliant characteristics due to the flexibility of the wires composing the structure. Rigid bodies and wires of the mechanism mimic bones and major ligaments in the forearm of the human. The proposed mechanism is classified as one of the interconnected hybrid flexure systems. The analysis method of the degree of freedom (DOF) of the proposed mechanism is also introduced through analyzing technique of the interconnected hybrid flexure systems, in this paper. Ultimately, the proposed mechanism, whose structure is complicated with rigid bodies and wires, mathematically drives that it has 3-DOFs.

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Acknowledgement

This paper was supported by Education and Research promotion program of KOREATECH in 2022

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