The mel coupled tendon-drive manipulator

Abstract A manipulator with seven degrees of freedom actuated by a coupled tendon-drive system has been developed. The coupled tendon-drive mechanism is constructed so that more than two actuators support the load, cooperatively. One of the features of the manipulator is that joints, have to support larger loads, are driven by more actuators. We have specially designed joint torque sensors to compensate for translation losses in pulley train. The hierarchical motion control system based on tension control has also been formulated, and implemented using Transputers. Some experimental results of this system are introduced.

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