Open AccessOn the fail-safe design of tendon-driven manipulators with redundant tendons
Author(s) -
Jinn-Biau Sheu,
Tyng Liu,
JyhJone Lee
Publication year - 2012
Publication title -
journal of mechanical science and technology
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.53
H-Index - 54
eISSN - 1976-3824
pISSN - 1738-494X
DOI - 10.1007/s12206-012-0409-4
Subject(s) - tendon , flexibility (engineering) , manipulator (device) , fail safe , feature (linguistics) , engineering , control theory (sociology) , function (biology) , computer science , control engineering , artificial intelligence , robot , mathematics , surgery , medicine , reliability engineering , control (management) , biology , linguistics , statistics , philosophy , evolutionary biology
A tendon-driven manipulator having redundant tendons may possess more flexibility in operation, such as optimizing the performance of tendons, reducing the burden of each tendon, and providing fail-safe features. The purpose of this paper is to investigate the design of tendon-driven manipulators with a fail-safe feature, that is, to synthesize a system that may still remain controllable as any of the tendons have broken down or malfunctioned. Characteristics of tendon-driven manipulators are briefly discussed. Criteria for tendon-driven manipulators with redundant tendons and fail-safe feature are then established. Subsequently, constraints for such system are derived from the structure of tendon-driven manipulator. Associated with the criteria, manipulators can remain controllable when any of the tendons fails to function. Finally, a geometric method for determining the structure is developed. Examples of two-DOF and three-DOF tendondriven manipulators are demonstrated.
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