Kinematic synthesis of tendon-driven robotic manipulators using singular value decomposition

摘要

This work describes a systematic methodology for the synthesis of tendon-driven manipulators. A method for enumerating the topology of tendon routings is first established. To conform with the enumerated structures, the kinematic synthesis of the manipulator using singular value decomposition is then developed. Design equations for synthesizing a general tendon-driven manipulator with isotropic transmission characteristics are subsequently derived. It is shown that the design methodology may give designers wider selection in determining the tendon routing topology than prior methods by other literature.