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The International Journal of Robotics Research
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The Structural Synthesis of Tendon-Driven Manipulators Having a Pseudotriangular Structure Matrix

Jyh-Jone Lee

Mechanical Engineering Department and Systems Research Center University of Maryland College Park, Maryland 20742

Lung-Wen Tsai

Mechanical Engineering Department and Systems Research Center University of Maryland College Park, Maryland 20742

Tendons have been widely used for power transmission in the field of anthropomorphic manipulating systems. This article deals with the identification and enumeration of the kine matic structure of tendon-driven robotic mechanisms. The structural isomorphism of tendon-driven manipulators is defined, and the structural characteristics of such mechanical systems are described. Applying these structural characteris tics, a methodology for the enumeration of tendon-driven robotic mechanisms is developed. Mechanism structures with up to six degrees of freedom are enumerated.

The International Journal of Robotics Research, Vol. 10, No. 3, 255-262 (1991)
DOI: 10.1177/027836499101000306
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