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 |
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Title of host publication | European Robotics Forum 2024 - 15th ERF |
Editors | Cristian Secchi, Lorenzo Marconi |
Publisher | Springer Nature |
Pages | 76-80 |
Number of pages | 5 |
Volume | 32 |
ISBN (Electronic) | 978-3-031-76424-0 |
ISBN (Print) | 978-3-031-76423-3, 978-3-031-76426-4 |
DOIs | |
Publication status | Published - 1 Jan 2025 |
Event | European Robotics Forum, ERF 2024: ROBOTICS UNITES: People, Countries, Disciplines - Via della Fiera 23 – 47923 , Rimini, Italy Duration: 13 Mar 2024 → 15 Mar 2024 https://erf2024.eu/ |
Publication series
Name | Springer Proceedings in Advanced Robotics (SPAR) |
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Publisher | Springer |
Volume | 32 |
ISSN (Print) | 2511-1256 |
ISSN (Electronic) | 2511-1264 |
Conference
Conference | European Robotics Forum, ERF 2024 |
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Abbreviated title | ERF 2024 |
Country/Territory | Italy |
City | Rimini |
Period | 13/03/24 → 15/03/24 |
Internet address |
Keywords
- 2025 OA procedure
- Compliance
- VSA
- Cam profile
- Optimisation
- Modeling and simulation
- Bondgraph
- Series Elastic Actuation (SEA)
- Variable stiffness