Tendon Routing Optimisation of a Tendon-Driven Gripper to Maximise Force Transmission Efficiency | IEEE Conference Publication | IEEE Xplore

Tendon Routing Optimisation of a Tendon-Driven Gripper to Maximise Force Transmission Efficiency


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 f...Show More

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.
Date of Conference: 22-24 November 2024
Date Added to IEEE Xplore: 03 December 2024
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Conference Location: Nancy, France

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