University of Twente Student Theses
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 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
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