1,159
Views
3
CrossRef citations to date
0
Altmetric
Original Articles

Design of a single motor, tendon driven redundant manipulator with reduced driving joint torques

ORCID Icon, &
Pages 591-614 | Received 14 Mar 2017, Accepted 24 Oct 2017, Published online: 27 Apr 2018

References

  • Albu-Schäffer, A., S. Haddadin, C. Ott, A. Stemmer, T. Wimböck, and G. Hirzinger. 2007. The DLR lightweight robot: Design and control concepts for robots in human environments. Industrial Robot: An International Journal 34: 376–385.
  • Angeles, J. 2013. Fundamentals of robotic mechanical systems: Theory, methods, and algorithms. 4th ed. Springer International Publishing, Switzerland.
  • Artigas, J., and G. Hirzinger. 2016. A brief history of DLR’s space telerobotics and force feedback teleoperation. Acta Polytechnica Hungarica 13:239–249.
  • Brancati, R., C. Rossi, and F. Timpone. 2007. Dynamic behavior and motion planning of a robot arm with non-rigid transmission. Mechanics Based Design of Structures and Machines 35 (4):347–362.
  • Castelli, G., E. Ottaviano, and M. Ceccarelli. 2008. A fairly general algorithm to evaluate workspace characteristics of serial and parallel manipulators. Mechanics Based Design of Structures and Machines 36 (1):14–33.
  • Ceccarelli, M. 2013. Fundamentals of mechanics of robotic manipulation. Springer Science & Business Media, Netherlands.
  • Chen, Y., B. Li, and Z. Deng. 2010. Dynamic modeling and performance analysis of a 3-DOF pan mechanism for a cooking robot. Mechanics Based Design of Structures and Machines 38 (2):243–260.
  • Choukchou-Braham, A., B. Cherki, M. Djemai, and K. Busawon. 2013. Analysis and control of underactuated mechanical systems. Springer Science & Business Media, Netherlands.
  • Culha, U., J. Hughes, A. Rosendo, F. Giardina, and F. Iida. 2017. Design principles for soft-rigid hybrid manipulators. In Soft robotics: Trends, applications and challenges. Springer International Publishing, Switzerland.
  • Djuric, A. M., R. J. Urbanic, and J. L. Rickli. 2016. A framework for collaborative robot (CoBot) integration in advanced manufacturing systems. SAE International Journal of Materials and Manufacturing 9:457–464.
  • Dombre, E., and W. Khalil. 2013. Robot manipulators: modelling, performance analysis and control. John Wiley & Sons, New Jersey, USA.
  • Fang, H., L. Guo, and S. Bai. 2015. In Recent Advances in Mechanism Design for Robotics: Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics. Springer International Publishing, Switzerland.
  • Galliott, J. 2016. Commercial space exploration: Ethics, policy and governance. Routledge, London, United Kingdom.
  • Garg, A., C. S. Vikram, S. Gupta, M. K. Sutar, P. M. Pathak, N. K. Mehta, and V. K. Gupta. 2014. Design and development of in vivo robot for biopsy. Mechanics Based Design of Structures and Machines 42 (3):278–295.
  • Haddadin, S., A. Albu-Schaffer, and G. Hirzinger. 2008. The role of the robot mass and velocity in physical human–robot interaction—Part I: Non-constrained blunt impacts. 2008 IEEE International Conference on Robotics and Automation, 1331–1338.
  • Haddadin, S., A. Albu-Schäffer, and G. Hirzinger. 2010. Safety analysis for a human-friendly manipulator. International Journal of Social Robotics 2, 235–252.
  • Hagn, U., M. Nickl, S. Jörg, G. Passig, T. Bahls, A. Nothhelfer, and R. Konietschke. 2008. The DLR MIRO: A versatile lightweight robot for surgical applications. Industrial Robot: An International Journal 35, 324–336.
  • Hirose, S., and S. Ma. 1991. Coupled tendon-driven multijoint manipulator. 1991 IEEE International Conference on Robotics and Automation, 1268–75.
  • Hirzinger, G., N. Sporer, M. Schedl, J. Butterfaß, and M. Grebenstein. 2004. Torque-controlled lightweight arms and articulated hands: Do we reach technological limits now?. The International Journal of Robotics Research 23, 331–340.
  • Jaber, A. A. 2016. Design of an intelligent embedded system for condition monitoring of an industrial robot. Springer International Publishing, Switzerland.
  • Kanno, T., D. Haraguchi, M. Yamamoto, K. Tadano, and K. Kawashima. 2015. A forceps manipulator with flexible 4-DOF mechanism for laparoscopic surgery. IEEE/ASME Transactions on Mechatronics 20, 1170–1178.
  • Kemmish, D. J. 2011. Practical guide to high performance engineering plastics. Smithers Rapra, Shrewsbury, United Kingdom.
  • Lens, T., J. Kunz, O. Von Stryk, C. Trommer, and A. Karguth. 2010. Biorob-arm: A quickly deployable and intrinsically safe, light-weight robot arm for service robotics applications. 2010 41st International Symposium on Robotics(ISR), 1–6.
  • Lens, T., and O. von Stryk. 2013. Design and dynamics model of a lightweight series elastic tendon-driven robot arm. 2013 IEEE International Conference on Robotics and Automation (ICRA), 4512–4518.
  • Londi, F., E. Pennestrì, P. P. Valentini, and L. Vita. 2004. Control and virtual reality simulation of tendon driven mechanisms. Multibody System Dynamics 12, 133–145.
  • Low, K. H. (Ed.). 2007. Industrial robotics: Programming, simulation and applications. Intech, London, United Kingdom.
  • Ma, S., H. Yoshinada, T. Yamazaki, and S. Hirose. 1991. Development of coupled tendon-driven multijoint manipulator. 1991 IEEE/RSJ International Workshop on Intelligent Robots and Systems, 725–730.
  • Ma, S., S. Hirose, and H. Yoshinada. 1993. Design and experiments for a coupled tendon-driven manipulator. IEEE Control Systems 13:30–36.
  • Masinga, P., H. Campbell, and J. A. Trimble. 2015. A framework for human collaborative robots, operations in South African automotive industry. 2015 IEEE International Conference on Industrial Engineering and EngineeringManagement (IEEM), 1494–1497.
  • Moussaoui, S., A. Boulkroune, and S. Vaidyanathan. 2016. Advances and Applications in Nonlinear Control Systems. Springer International Publishing, Switzerland.
  • Nanos, K., and E. G. Papadopoulos. 2015. On the dynamics and control of flexible joint space manipulators. Control Engineering Practice 45:230–243.
  • Ouyang, B., and W. Shang. 2014. Wrench-feasible workspace based optimization of the fixed and moving platforms for cable-driven parallel manipulators. Robotics and Computer-Integrated Manufacturing, 30 (6):629–635.
  • Ouyang, B., and W. W. Shang. 2015. A new computation method for the force-closure workspace of cable-driven parallel manipulators. Robotica 33 (3):537–547.
  • Pellegrinelli, S., S. Borgia, N. Pedrocchi, E. Villagrossi, G. Bianchi, and L. M. Tosatti. 2015. Minimization of the energy consumption in motion planning for single-robot tasks. Procedia CIRP, 29:354–359.
  • Pucci, D., F. Romano, and F. Nori. 2015. Collocated adaptive control of underactuated mechanical systems. IEEE Transactions on Robotics 31 (6):1527–1536.
  • Siciliano, B., L. Sciavicco, L. Villani, and G. Oriolo. 2010. Robotics: modelling, planning and control. Springer Science & Business Media, Netherlands.
  • Siciliano, B., and O. Khatib. 2016. Robotics and the Handbook. In Springer Handbook of Robotics. Springer International Publishing, Switzerland.
  • Singh, A. K., Siddhartha, and P. K. Singh. 2017. Polymer spur gears behaviors under different loading conditions: A review. Proceedings of the Institution of Mechanical Engineers, Part J: Journal of Engineering Tribology. doi:1350650117711595.
  • Smith, J. A., J. Jivraj, R. Wong, and V. Yang. 2016. 30 years of neurosurgical robots: Review and trends for manipulators and associated navigational systems. Annals of Biomedical Engineering 44:836–846.
  • Spiers, A., S. G. Khan, and G. Herrmann. 2016. Biologically inspired control of humanoid robot arms. Springer International Publishing, Switzerland.
  • Tadele, T. S., T. de Vries, and S. Stramigioli. 2014. The safety of domestic robotics: A survey of various safety-related publications. IEEE Robotics & Automation Magazine 21:134–142.
  • Townsend, W. T., and J. A. Guertin. 1999. Teleoperator slave-WAM design methodology. Industrial Robot: An International Journal 26:167–177.
  • Townsend, W. 2013. Joanne Pransky interviews. Industrial Robot: An International Journal 40:515–518.
  • Verl, A., A. Albu-Schäffer, O. Brock, and A. Raatz. 2015. Soft robotics: Transferring theory to application. Springer Verlag, Berlin Heidelberg.
  • Warner Electric. 2017. Warner electromagnetic clutches and brakes catalogue. Warner Electric, outh Beloit, USA.
  • Wu, L., and M. Ceccarelli. 2009. A numerical simulation for design and operation of an underactuated finger mechanism for LARM hand. Mechanics Based Design of Structures and Machines 37 (1):86–112.
  • Xin, X., and Y. Liu. 2014. Control design and analysis for underactuated robotic systems. Springer Science & BusinessMedia, Netherlands.
  • Yadmellat, P., A. S. Shafer, and M. R. Kermani. 2013. Design and development of a safe robot manipulator using a new actuation concept. 2013 IEEE International Conference on Robotics and Automation (ICRA), 337–342.
  • Yadmellat, P., A. S. Shafer, and M. R. Kermani. 2014. Design and development of a single-motor, two-dof, safe manipulator. IEEE/ASME Transactions on Mechatronics 19:1384–1391.
  • Yaskawa Servo Drives. 2017. Yaskawa AC servo drive catalogue. Yaskawa Drives and Motion, Norman Drive South, Waukegan, USA.
  • Yokoi, K., K. Komoriya, K. Tanie, N. Imamura, T. Kawai, and K. Agou. 1995. Design and control of a seven degrees of freedom manipulator actuated by a coupled tendon-drive system. JSME International Journal of Dynamics, Control, Robotics, Design and Manufacturing 38:267–275.
  • Zhou, L., and S. Bai. 2015. A new approach to design of a lightweight anthropomorphic arm for service applications. Journal of Mechanisms and Robotics 7:31–41.

Reprints and Corporate Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

To request a reprint or corporate permissions for this article, please click on the relevant link below:

Academic Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

Obtain permissions instantly via Rightslink by clicking on the button below:

If you are unable to obtain permissions via Rightslink, please complete and submit this Permissions form. For more information, please visit our Permissions help page.