Kinematic Structure of Tendon-Driven Robotic Mechanisms
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 w...
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ndltd-TW-082NSYSU4890542016-07-18T04:09:47Z http://ndltd.ncl.edu.tw/handle/20088695823415398371 Kinematic Structure of Tendon-Driven Robotic Mechanisms 帶驅動式機器人機構之運動構造 Chang, Li Wen 張麗文 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. Hsu, Cheng Ho 許正和 1994 學位論文 ; thesis 152 zh-TW |
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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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author2 |
Hsu, Cheng Ho |
author_facet |
Hsu, Cheng Ho Chang, Li Wen 張麗文 |
author |
Chang, Li Wen 張麗文 |
spellingShingle |
Chang, Li Wen 張麗文 Kinematic Structure of Tendon-Driven Robotic Mechanisms |
author_sort |
Chang, Li Wen |
title |
Kinematic Structure of Tendon-Driven Robotic Mechanisms |
title_short |
Kinematic Structure of Tendon-Driven Robotic Mechanisms |
title_full |
Kinematic Structure of Tendon-Driven Robotic Mechanisms |
title_fullStr |
Kinematic Structure of Tendon-Driven Robotic Mechanisms |
title_full_unstemmed |
Kinematic Structure of Tendon-Driven Robotic Mechanisms |
title_sort |
kinematic structure of tendon-driven robotic mechanisms |
publishDate |
1994 |
url |
http://ndltd.ncl.edu.tw/handle/20088695823415398371 |
work_keys_str_mv |
AT changliwen kinematicstructureoftendondrivenroboticmechanisms AT zhānglìwén kinematicstructureoftendondrivenroboticmechanisms AT changliwen dàiqūdòngshìjīqìrénjīgòuzhīyùndònggòuzào AT zhānglìwén dàiqūdòngshìjīqìrénjīgòuzhīyùndònggòuzào |
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1718352752885628928 |