DocumentCode
716505
Title
Design of tendon-driven mechanisms for fault tolerance from tendon-breaking by using centroid vectors
Author
Ozawa, Ryuta ; Kobayashi, Hiroaki ; Hyodo, Kazuhito
Author_Institution
Dept. of Robot., Ritsumeikan Univ., Kusatsu, Japan
fYear
2015
fDate
26-30 May 2015
Firstpage
2736
Lastpage
2741
Abstract
Tendon-driven mechanisms (TDMs) are mechanisms driven by more tendons than joints. This tendon redundancy is often used for changing the hardware compliance. In contrast, in this paper, the redundancy is used for coping with unexpected tendon breaking. We analyze kinematics of a class of TDMs with asymmetrically spanned tendons and modify it to design a TDM that preserves the controllability even if at least one of the tendons is broken. We validate the proposed method to design several TDMs.
Keywords
controllability; fault tolerant control; redundant manipulators; vectors; TDM; asymmetrically spanned tendons; centroid vectors; controllability; fault tolerance; hardware compliance; tendon redundancy; tendon-breaking; tendon-driven mechanisms; Controllability; Design methodology; Jacobian matrices; Joints; Safety; Tendons; Time division multiplexing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location
Seattle, WA
Type
conf
DOI
10.1109/ICRA.2015.7139570
Filename
7139570
Link To Document