Passive Tension Adjustment of Tendon-Driven Mechanism for Drivability Improvement

In this paper, we propose a new method to improve the drivability of tendon-driven systems. There are three main conventional tendon drive methods: (1) using one actuator per joint, (2) using springs for pre-tensioning, and (3) using two actuators to move one joint. The proposed method extends (2) a...

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Bibliographic Details
Published inIEEJ Journal of Industry Applications p. 24005012
Main Authors Ueda, Kei, Katsura, Seiichiro
Format Journal Article
LanguageEnglish
Japanese
Published The Institute of Electrical Engineers of Japan 01.03.2025
Subjects
Manipulator
Spring
Tendon-driven Mechanism
Tension
Wire
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Summary:In this paper, we propose a new method to improve the drivability of tendon-driven systems. There are three main conventional tendon drive methods: (1) using one actuator per joint, (2) using springs for pre-tensioning, and (3) using two actuators to move one joint. The proposed method extends (2) and aims to avoid the traditional drawback of a two-inertia system. First, we conducted experiments on the load's tracking performance relative to the motor and demonstrated the effectiveness of using adjustments, including the spring-type mechanism. Subsequently, we evaluated drivability by examining the ratio between the input and received torque, confirming that the two-inertia effect was reduced compared to that in the conventional spring-type mechanism.
ISSN:2187-1094
2187-1108
DOI:10.1541/ieejjia.24005012