Title :
An investigation of the transmission system of a tendon driven robot hand
Author :
Nahvi, Ali ; Hollerbach, John M. ; Xu, Yangming ; Hunter, Ian W.
Author_Institution :
Biorobotics Lab., McGill Univ., Montreal, Que., Canada
Abstract :
The transmission system of the Utah/MIT Dextrous Hand (UMDH) is investigated theoretically and experimentally. It is shown that the friction of the routing pulleys is not negligible and should be considered in the force control of the UMDH. In the frequency range of the pneumatic actuators (80 Hz), tendons act like springs and the first mode of the tendons is above that frequency range
Keywords :
actuators; force control; manipulators; pneumatic control equipment; 80 Hz; Utah/MIT Dextrous Hand; force control; friction; pneumatic actuators; routing pulleys; tendon driven robot hand; transmission system; Fingers; Force control; Frequency; Friction; Hysteresis; Pulleys; Robots; Stability; Tendons; Wrist;
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location :
Munich
Print_ISBN :
0-7803-1933-8
DOI :
10.1109/IROS.1994.407390
