Incorporating General Contact Surfaces in the Kinematics of Tendon-Driven Rolling-Contact Joint Mechanisms
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866917765987696640 |
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| author | Ha, Junhyoung Kim, Chaewon Kim, Chunwoo |
| author_facet | Ha, Junhyoung Kim, Chaewon Kim, Chunwoo |
| contents | This paper presents the first kinematic modeling of tendon-driven rolling-contact joint mechanisms with general contact surfaces subject to external loads. We derived the kinematics as a set of recursive equations and developed efficient iterative algorithms to solve for both tendon force actuation and tendon displacement actuation. The configuration predictions of the kinematics were experimentally validated using a prototype mechanism. Our MATLAB implementation of the proposed kinematic is available at https://github.com/hjhdog1/RollingJoint. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_00616 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Incorporating General Contact Surfaces in the Kinematics of Tendon-Driven Rolling-Contact Joint Mechanisms Ha, Junhyoung Kim, Chaewon Kim, Chunwoo Robotics This paper presents the first kinematic modeling of tendon-driven rolling-contact joint mechanisms with general contact surfaces subject to external loads. We derived the kinematics as a set of recursive equations and developed efficient iterative algorithms to solve for both tendon force actuation and tendon displacement actuation. The configuration predictions of the kinematics were experimentally validated using a prototype mechanism. Our MATLAB implementation of the proposed kinematic is available at https://github.com/hjhdog1/RollingJoint. |
| title | Incorporating General Contact Surfaces in the Kinematics of Tendon-Driven Rolling-Contact Joint Mechanisms |
| topic | Robotics |
| url | https://arxiv.org/abs/2409.00616 |