- 텐던 구동 로봇 메커니즘의 일반화된 그래프 표현
- ㆍ 저자명
- 조영수,정주노,김두형,Cho. Youngsu,Cheong. Joono,Kim. Doohyung
- ㆍ 간행물명
- 로봇학회논문지
- ㆍ 권/호정보
- 2014년|9권 3호|pp.178-184 (7 pages)
- ㆍ 발행정보
- 한국로봇학회
- ㆍ 파일정보
- 정기간행물| PDF텍스트
- ㆍ 주제분야
- 기타
Tendon driven robot mechanisms have many advantages such as allowing miniaturization and light-weight designs and/or enhancing flexibility in the design of structures. When designing or analyzing tendon driven mechanisms, it is important to determine how the tendons should be connected and whether the designed mechanism is easily controllable. Graph representation is useful to view and analyze such tendon driven mechanisms that are complicatedly interconnected between mechanical elements. In this paper, we propose a method of generalized graph representation that provides us with an intuitive analysis tool not only for tendon driven manipulators, but also various other kinds of mechanical systems which are combined with tendons. This method leads us to easily obtain structure matrix - which is the one of the most important steps in analyzing tendon driven mechanisms.