CONTINUOUS-DUTY TENDON LIFETIME ARCHITECTURE v1.0 UHMWPE Transmission for Palm-Actuated Humanoid Hands: Creep, Fatigue, Thermal Drift, and Retensioning-Free Operation Under Industrial Load
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2026
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| _version_ | 1866901733021581312 |
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| author | Mitchell , Thomas S. |
| author_facet | Mitchell , Thomas S. |
| contents | <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> |
| format | Recurso digital |
| id | zenodo_https___doi_org_10_5281_zenodo_18665441 |
| institution | Zenodo |
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| publishDate | 2026 |
| publisher | Zenodo |
| record_format | zenodo |
| spellingShingle | CONTINUOUS-DUTY TENDON LIFETIME ARCHITECTURE v1.0 UHMWPE Transmission for Palm-Actuated Humanoid Hands: Creep, Fatigue, Thermal Drift, and Retensioning-Free Operation Under Industrial Load Mitchell , Thomas S. humanoid robotics tendon-driven actuation UHMWPE tendon continuous-duty lifetime creep and fatigue transmission calibration stability palm-actuated hand architecture field-serviceable robotics industrial manipulation reliability TRL validation protocol <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> |
| title | CONTINUOUS-DUTY TENDON LIFETIME ARCHITECTURE v1.0 UHMWPE Transmission for Palm-Actuated Humanoid Hands: Creep, Fatigue, Thermal Drift, and Retensioning-Free Operation Under Industrial Load |
| topic | humanoid robotics tendon-driven actuation UHMWPE tendon continuous-duty lifetime creep and fatigue transmission calibration stability palm-actuated hand architecture field-serviceable robotics industrial manipulation reliability TRL validation protocol |
| url | https://doi.org/10.5281/zenodo.18665441 |