Paper Info
Title
Design Of A 2 Motor 2 Degrees-Of-Freedom Coupled Tendon-Driven Joint Module
Abstract
A 2 motor 2 degrees-of-freedom (2M2D) coupled tendon driven joint module is proposed as a basic component for robot arms. Torque reallocation via tendon coupling can enhance the output torque of one single joint. According to the motor position, the joint module is classified into four types: the externally-actuated structure, the internally-coaxially-actuated structure, the internally-separately-actuated structure, and the hybrid-actuated structure. The four structures are analyzed and compared, and their implementation design examples are given. Experiments comparing the proposed joint module with directly-actuated traditional joint suggested that the 2M2D coupled tendon-driven joint module can obtain high control accuracy, and the torque reallocation via tendon coupling is effective to improve output torque. Additionally, an anthropomorphic robot arm with low weight and high payload was developed to show the utility of the proposed joint module.
Year
DOI
Venue
2018
10.1109/IROS.2018.8594080
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Field
DocType
ISSN
Robotic arm,Torque,Coupling,Computer science,Simulation,Control engineering,Robot,Pulley,Tendon,Payload
Conference
2153-0858
Citations 
PageRank 
References 
0
0.34
0
Authors
7
Name
Order
Citations
PageRank
Wenyang Li111.72
Chen Peng210014.00
Dianchun Bai326.84
XiaoXiao Zhu467.26
Shunta Togo526.05
Hiroshi Yokoi638392.58
Yinlai Jiang71011.72