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Stiffness analysis and experimental validation of modular-type hybrid antagonistic tendon-driven joint systems

Published online by Cambridge University Press:  30 July 2018

Hyunhwan Jeong ,
Bongki Kang  and
Joono Cheong
Hyunhwan Jeong
Affiliation:
Department of Electro-Mechanical Systems Engineering, Korea University, Sejong 30017, South Korea. E-mails: hyunhwanjeong@korea.ac.kr, gangbongi@korea.ac.kr
Bongki Kang
Affiliation:
Department of Electro-Mechanical Systems Engineering, Korea University, Sejong 30017, South Korea. E-mails: hyunhwanjeong@korea.ac.kr, gangbongi@korea.ac.kr
Joono Cheong*
Affiliation:
Department of Electro-Mechanical Systems Engineering, Korea University, Sejong 30017, South Korea. E-mails: hyunhwanjeong@korea.ac.kr, gangbongi@korea.ac.kr
*
*Corresponding author. E-mail: jncheong@korea.ac.kr
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Summary

This paper proposes a new antagonistic tendon-driven joint (TDJ) that exhibits higher stiffness and larger travel range than conventional types of TDJs. A detailed mathematical analysis of the stiffness of the proposed TDJ is conducted and compared to other TDJs. The effect of the tendon length is taken into consideration to establish a more precise and realistic stiffness model of the proposed TDJ. Thereafter, two hardware prototypes of the proposed TDJ design, developed in the form of a packaged modular structure that integrates two TDJs, are introduced. Using these prototypes, the stiffness characteristics of the proposed TDJs are verified through experimentation. Additionally, experimental results on the stiffness behavior during the mimicked needle insertion tasks are provided. Results show that the proposed TDJs present much higher stiffness than conventional ones and thus give a potential benefit to precision manipulation.

Keywords

Tendon-driven jointStiffness analysisModular jointAntagonistic actuation
Type
Articles
Information
Robotica , Volume 36 , Issue 11 , November 2018 , pp. 1680 - 1700
Copyright
Copyright © Cambridge University Press 2018 

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