Published October 18, 2019
| Version v1
Poster
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Workspace Analysis Of Fully Routed Two-Link Tendon-Driven Manipulators
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Description
This paper presents workspace analysis of tendon- driven planar serial kinematic chains which allows single-point and multi-point routing with bundling per rigid link. Targeting a musculoskeletal two-link system with different tendon arrangements as a case study, the wrenchclosure and wrench- feasible workspace are evaluated for different configurations. It is observed that, the single-point internally routed chain has more feasible workspace than the externally routed robot with 3 tendons.
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https://youtu.be/BOdZzOh7Soc
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video-Workspace Analysis Of Fully Routed Two-Link Tendon-Driven Manipulators-BOdZzOh7Soc.mp4
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(7.2 MB)
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