Tendon routing optimisation of a tendon-driven gripper to reduce frictional effects
Feldbrugge, B.A.J. (2024)
We present a tendon routing optimisation method
for reducing the static friction experienced in a tendon-driven
mechanism. Tendon-driven mechanisms enable the designer to
have the actuator placed away from the actuated joint, where
the tendons give the opportunity for a slim design. One of
the drawbacks of a tendon-driven mechanism is a relatively
poor force transmission efficiency between the actuator and the
joint(s) due to frictional effects. To optimise the force transmission
efficiency we will develop a static friction model of a tendondriven
mechanism. We then propose, with the developed model,
a design optimisation method to reduce static frictional effects.
A variety of tests demonstrate the performance and the viability
of this optimisation applied to the tendon routing of an existing
tendon-driven gripper.
BAJFeldbrugge_BA_EEMCS.pdf