Time-Division Multiplexing Actuation in Tendon-Driven Arms: Lightweight Design and Fault Tolerance
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arXiv
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| Autori principali: | , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866913042376163328 |
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| author | Li, Shoujie Guo, Changqing Xu, Jianle Luo, Hong Wang, Xueqian Ding, Wenbo Liang, Bin |
| author_facet | Li, Shoujie Guo, Changqing Xu, Jianle Luo, Hong Wang, Xueqian Ding, Wenbo Liang, Bin |
| contents | Robotic manipulators for aerospace applications require a delicate balance between lightweight construction and fault-tolerant operation to satisfy strict weight limitations and ensure reliability in remote, hazardous environments. This paper presents Time-Division Multiplexing Actuation (TDMA), a practical approach for tendon-driven robots that significantly reduces actuator count while preserving high torque output and intrinsic fault tolerance. The key hardware employs a vertically-stacked rotational selection structure that integrates self-rotating TDM motors for rapid configuration, electromagnetic clutches enabling sub-0.1 second engagement, a worm gear reducer for enhanced load capacity and self-locking capability, and a dual-encoder system for precise, long-term positioning. Leveraging TDMA, the proposed MuxArm achieves a self-weight of 2.17 kg, supports an actuator driving capacity of 10 kg, and maintains end-effector accuracy up to 1% of its length, even under partial servo failure. Additionally, an actuation space trajectory planning algorithm is developed, enabling fault-tolerant control and reducing tendon load by up to 50% compared to conventional methods. Comprehensive experiments demonstrate MuxArm's robust performance in diverse settings, including free-space, cluttered, and confined environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_16887 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Time-Division Multiplexing Actuation in Tendon-Driven Arms: Lightweight Design and Fault Tolerance Li, Shoujie Guo, Changqing Xu, Jianle Luo, Hong Wang, Xueqian Ding, Wenbo Liang, Bin Robotics Robotic manipulators for aerospace applications require a delicate balance between lightweight construction and fault-tolerant operation to satisfy strict weight limitations and ensure reliability in remote, hazardous environments. This paper presents Time-Division Multiplexing Actuation (TDMA), a practical approach for tendon-driven robots that significantly reduces actuator count while preserving high torque output and intrinsic fault tolerance. The key hardware employs a vertically-stacked rotational selection structure that integrates self-rotating TDM motors for rapid configuration, electromagnetic clutches enabling sub-0.1 second engagement, a worm gear reducer for enhanced load capacity and self-locking capability, and a dual-encoder system for precise, long-term positioning. Leveraging TDMA, the proposed MuxArm achieves a self-weight of 2.17 kg, supports an actuator driving capacity of 10 kg, and maintains end-effector accuracy up to 1% of its length, even under partial servo failure. Additionally, an actuation space trajectory planning algorithm is developed, enabling fault-tolerant control and reducing tendon load by up to 50% compared to conventional methods. Comprehensive experiments demonstrate MuxArm's robust performance in diverse settings, including free-space, cluttered, and confined environments. |
| title | Time-Division Multiplexing Actuation in Tendon-Driven Arms: Lightweight Design and Fault Tolerance |
| topic | Robotics |
| url | https://arxiv.org/abs/2604.16887 |