Dynamic Analysis of Tendon Driven Robotic Mechanisms

Abstract

Abstract In this paper, a systematic methodology for the dynamic analysis of tendon‐driven robotic mechanisms is presented. The approach utilizes the recursive Newton‐Euler equations to compute the kinematic and dynamic equations of all links that locate on the transmission line of a tendon‐driven robotic mechanism. The inertias of the intermediate links in the mechanism are taken into account. It is shown that the dynamic equations can be established in a recursive manner from the end‐effector links toward the proximal links and can be solved at the proximal end without the need of solving the simultaneous system equations. The joint reaction forces and the tension in each segment of tendon can be also obtained. The methodology can be applied to both endless and open‐ended tendon drives. © 2003 Wiley Periodicals, Inc.