English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

One of the most important features of tendon-driven robots is the ease ofwire arrangement and the degree of freedom it affords, enabling theconstruction of a body that satisfies the desired characteristics by modifyingthe wire arrangement. Various wire arrangement optimization methods have beenproposed, but they have simplified the configuration by assuming that themoment arm of wires to joints are constant, or by disregarding wirearrangements that span multiple joints and include relay points. In this study,we formulate a more flexible wire arrangement optimization problem in whicheach wire is represented by a start point, multiple relay points, and an endpoint, and achieve the desired physical performance based on black-boxoptimization. We consider a multi-objective optimization which simultaneouslytakes into account both the feasible operational force space and velocityspace, and discuss the optimization results obtained from variousconfigurations.

Design Optimization of Wire Arrangement with Variable Relay Points in Numerical Simulation for Tendon-driven Robots