| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 89 === The goal of this study is to investigate the tendon forces and their distribution in an indeterminant system, a tendon-driven platform (TDP). Firstly, two methods are proposed to solve the indeterminant force equations of TDP. Then, the effects of elastic elements and the gravity on the tendon kinematic and force analysis of TDP are discussed. As the tendon forces of TDP can be estimated, the distribution of tendon force can, therefore, be achieved. Finally, a planar 4-tendon TDP prototype model is built and tested. This study will be helpful for the further realization of TDP and the development of TDP control algorithm.
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