Title :
Design of the new modular tendon-driven manipulator TENDRIM
Author :
Sklyarenko, Yevgen ; Schreiber, Frank ; Kolbus, Michael ; Wobbe, Frank ; Schumacher, Walter
Author_Institution :
Inst. of Control Eng., Tech. Univ. Braunschweig, Braunschweig, Germany
Abstract :
This paper presents a concept for the design of hyper-redundant manipulators utilizing stages of spatial links with remote tendon actuation. This methodology is illustrated by the prototype of a new tendon-driven modular manipulator (TENDRIM). The TENDRIM is composed of three stages of completely restrained, tendon-driven parallel mechanisms featuring two rotatory DOF each. A workspace analysis for a single stage and the resulting TENDRIM is given. This prototype demonstrates the potential of the proposed concept and the derived family of light-weight, highly maneuverable manipulators for assembly applications.
Keywords :
manipulators; assembly applications; highly maneuverable manipulators; hyperredundant manipulators; modular tendon-driven manipulator TENDRIM; remote tendon actuation; Kinematics; Magnetic materials; Manipulators; Muscles; Prototypes; Robotic assembly; Robotics and automation; Robots; Spine; Tendons;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420610
