Abstract
We present a design optimisation method for the routing of tendons in a tendon-driven mechanism with the objective of maximising force transmission efficiency (FTE). We formulate a friction model for the different routing elements, accounting for routing point radii and slipping/rolling contacts. We then construct a numerical design optimisation problem to optimise the design parameters, routing point locations, for a given tendon routing topology. We apply the method to the design of an existing tendon-driven gripper. The results show that frictional losses can be reduced by approximately half compared to the baseline design, and that taking into account the routing point radii is indeed of significant influence.
| Original language | English |
|---|---|
| Title of host publication | 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids) |
| Pages | 367-372 |
| ISBN (Electronic) | 979-8-3503-7357-8 |
| DOIs | |
| Publication status | Published - 3 Dec 2024 |
| Event | 23rd International Conference on Humanoid, RobotsIEEE-RAS Humanoids 2024 - Prouvé Convention Centre, Nancy, France Duration: 22 Nov 2024 → 24 Nov 2024 Conference number: 23 https://2024.ieee-humanoids.org/ |
Conference
| Conference | 23rd International Conference on Humanoid, RobotsIEEE-RAS Humanoids 2024 |
|---|---|
| Abbreviated title | IEEE-RAS Humanoids 2024 |
| Country/Territory | France |
| City | Nancy |
| Period | 22/11/24 → 24/11/24 |
| Internet address |
Keywords
- 2024 OA procedure
- Gripping
- Force tranmsission
- Modelling
- Optimization algorithm
- Tendon/ligament
Fingerprint
Dive into the research topics of 'Tendon Routing Optimisation of a Tendon-Driven Gripper to Maximise Force Transmission Efficiency'. Together they form a unique fingerprint.Cite this
- APA
- Author
- BIBTEX
- Harvard
- Standard
- RIS
- Vancouver