Збережено в:
| Автор: | |
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| Формат: | Recurso digital |
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| Опубліковано: |
Zenodo
2026
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| Предмети: | |
| Онлайн доступ: | https://doi.org/10.5281/zenodo.18665441 |
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Зміст:
- <p>This technical report defines a continuous-duty tendon transmission architecture for humanoid hands and a garage-replicable validation protocol for lifetime, creep, fatigue, and thermal drift. Using UHMWPE as an industrial baseline, the work establishes explicit TRL pass/fail criteria: ≥10⁷ actuation cycles, <2 % length drift, zero retensioning, and thermally stable operation. The architecture is mechanically compatible with palm-centralized actuation, fluid-tendon cooling, and passive finger structures and is field-serviceable without distal disassembly. The protocol provides a standardized benchmark for current humanoid systems and a direct evaluation path for future high-performance tendon materials.</p>