| Summary: | 碩士 === 國立中山大學 === 機械工程研究所 === 82 === Tendon-driven robotic mechanisms have the advantages of remote
control, light weight, small volume and easy manufacturation,
so they are widely used in anthropomorphic robot hands. The
purpose of this work os to propose a systematic methodology for
the analysis and synthesis of kinematic structure of tendon
-driven robotic mechanisms. First, an efficient graph
representation is proposed and its adjacent matrix is defined.
Next, based on the concept of transmission lines, we generate
an algorithm of automatically listing of the kinematic
equations and torque equations from mechanism graphs. A
computer program for further developed for the automatic
analysis of mechanisms with any numbers of degrees of freedom.
Then, several principles of admissibility evaluations of
existing mechanisms are proposed. The structural code and
canonical routing direction are defined for the identification
of isomorphisc mechanisms. A software of automatic analysis of
kinematic structure of mechanisms is also developed. Last, a
systematic methodology of synthesis of kinematic structure of
tendon-driven robotic mechanisms is proposed. An atlas of
1-DOF to 5-DOF mechanisms is listed. The results of this
research provides a powerful tool for the design of tendon-
driven robotic mechanisms.
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