Tendon-sheath actuated robots and transmission system

摘要

In this paper, tendon-sheath actuated robots working under narrow space are introduced. These kinds of robots are often used to accomplish some rescue tasks, operate minimally invasive surgeries or fulfill some detection mission. The application of tendon-sheath mechanism can reduce the size and weight of the robots. Friction between the tendon and the sheath which introduces some nonlinear phenomenon lowers the performance of the system. Model based on static force balance considering Coulomb friction is presented to study the transmission characteristics. Dynamical friction models such as Dahl model and Lugre model are also applied in our simulation model. Both of Simulation and experimental results prove its validation.