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Tendon routing optimisation of a tendon-driven gripper to reduce frictional effects

Feldbrugge, B.A.J. (2024) Tendon routing optimisation of a tendon-driven gripper to reduce frictional effects.

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Abstract: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.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:52 mechanical engineering
Programme:Electrical Engineering BSc (56953)
Link to this item:https://purl.utwente.nl/essays/98192
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