Tension Control Method Utilizing Antagonistic Tension to Enlarge the Workspace of Coupled Tendon-Driven Articulated Manipulator
نویسندگان
چکیده
The exploration and inspection of narrow spaces in industrial plants require the use long-reach redundant manipulators with large three-dimensional (3D) workspaces. To this end, a previous work, coupled tendon-driven articulated manipulator total length 10 m yaw joints for 3D motion was developed. This study focuses on employing antagonistic tension joint to support tendon that drives pitch high gravitational loading. Herein, control method employs reduces amount required weight an arm is proposed. effectiveness proposed evaluated based workspace volume previously developed Super Dragon, results demonstrate expands by up 45%.
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ژورنال
عنوان ژورنال: IEEE robotics & automation letters
سال: 2021
ISSN: ['2377-3766']
DOI: https://doi.org/10.1109/lra.2021.3094489