An Optimized Single Motor 1 DOF Tendon-Based Transmission
Keywords:Tendon, Motion transference, Single motor 1 DOF, Pulley
Tendon based transmission is an efficient method for force and motion transference. Not only tendon-driven mechanisms provide dexterity and manipulability in various applications, but also they keep the structure of the mechanism light and the design delicate. Although tendon driven mechanisms are effective in driving systems with various degrees of freedom, they require either simultaneous control of parallel tendons which could be challenging or utilizing passive tendons that decreases the control over the mechanism. This paper presents a novel design for driving a planar 1 DOF joint by a single actuator. The mechanism benefits from a compound non-circular pulley which linearizes the non-linear relationship between the pulley and joint angle. The pulley enables the mechanism to operate without any controller while keeping all the tendons active which distinguishes it from the previous designs. The algorithm to derive the profile of the pulley is explained and the mechanism parameters are optimized to minimize the traction in the tendons and also to improve the precision of the mechanism. The pulley and a prototype of the mechanism have been synthesized in order to prove the authenticity of the design and to compare the test result to the algorithm outcome.
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