Smart Tendon Actuated Flexible Actuator
Joint Authors
Billah, Md. Masum
Khan, Raisuddin
Source
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-01-29
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
We investigate the kinematic feasibility of a tendon-based flexible parallel platform actuator.
Much of the research on tendon-driven Stewart platforms is devoted either to the completely restrained positioning mechanism (CRPM) or to one particular type of the incompletely restrained positioning mechanism (IRPM) where the external force is provided by the gravitational pull on the platform such as in cable-suspended Stewart platforms.
An IRPM-based platform is proposed which uses the external force provided by a compliant member.
The compliant central column allows the configuration to achieve n DOFs with n tendons.
In particular, this investigation focuses on the angular deflection of the upper platform with respect to the lower platform.
The application here is aimed at developing a linkable module that can be connected to one another so as to form a “snake robot” of sorts.
Since locomotion takes precedence over positioning in this application, a 3-DOF Stewart platform is adopted.
For an arbitrary angular displace of the end-effector, the corresponding length of each tendon can be determined through inverse kinematics.
Mathematical singularities are investigated using the traditional analytical method of defining the Jacobian.
American Psychological Association (APA)
Billah, Md. Masum& Khan, Raisuddin. 2015. Smart Tendon Actuated Flexible Actuator. Journal of Robotics،Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1070017
Modern Language Association (MLA)
Billah, Md. Masum& Khan, Raisuddin. Smart Tendon Actuated Flexible Actuator. Journal of Robotics No. 2015 (2015), pp.1-10.
https://search.emarefa.net/detail/BIM-1070017
American Medical Association (AMA)
Billah, Md. Masum& Khan, Raisuddin. Smart Tendon Actuated Flexible Actuator. Journal of Robotics. 2015. Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1070017
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1070017