Deformation analysis of belt-formed pulley to adjust joint stiffness of tendon robot

Author

Nakiri, Dai ; Nakamura, Tuyoshi ; Kino, Hitoshi

Author_Institution

Fukuoka Inst. of Technol., Fukuoka

fYear

2007

fDate

4-7 Sept. 2007

Firstpage

1

Lastpage

6

Abstract

A belt-formed pulley is a nonlinear spring device. Inserting the belt-formed pulleys into routes of wires, joint stiffness of a tendon-driven robot can be varied depending on internal force among wires. The system using belt-formed pulleys has many advantages such as low cost, low friction, light and so on, compared with other devices to vary joint stiffness. However, little is known about joint-stiffness property of the system using belt-formed pulleys. In this paper, we analyze deformation of belt-formed pulley by using three approximate models. Based on comparison between results of simulations and experiments, we present the usefulness of the proposed models. Finally, the forward kinematics to obtain a joint angel from wire length is discussed for a one-link manipulator system.

Keywords

deformation; manipulator kinematics; pulleys; springs (mechanical); approximate model; belt-formed pulley; deformation analysis; forward kinematics; joint stiffness; nonlinear spring device; one-link manipulator system; tendon robot; Biological system modeling; Costs; Deformable models; Joints; Manipulators; Pulleys; Robots; Springs; Tendons; Wire; Deformation; Pulley; Stiffness; Tendon; Wire;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on

Conference_Location

Zurich

Print_ISBN

978-1-4244-1263-1

Electronic_ISBN

978-1-4244-1264-8

Type

conf

DOI

10.1109/AIM.2007.4412511

Filename

4412511