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- W3143467800 abstract "Abstract This paper presents a methodology for kinematic synthesis of tendon-driven manipulators with isotropic transmission characteristics. The force transmission characteristics, from the end-effector space to the actuator space, has been investigated. It is shown that tendon forces required to act against externally applied forces are functions of the structure matrix, its null vector, and the manipulator Jacobian matrix. Design equations for synthesizing a manipulator to possess isotropic transmission characteristics are derived. It is shown that manipulators which possess isotropic transmission characteristics do have much better force distribution among their tendons." @default.
- W3143467800 created "2021-04-13" @default.
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- W3143467800 date "1993-09-19" @default.
- W3143467800 modified "2023-09-26" @default.
- W3143467800 title "Kinematic Synthesis of Tendon-Driven Manipulators With Isotropic Transmission Characteristics" @default.
- W3143467800 doi "https://doi.org/10.1115/detc1993-0421" @default.
- W3143467800 hasPublicationYear "1993" @default.
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