Development of a Semi-Rigid Tendon Actuated Limb for Robotics Applications

Bekarys Nurtay, Tomiris Suranshy, Michele Folgheraiter

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the design and modeling of a lightweight tendon actuated robotic limb. The mechanical structure consists of a sequence of four semi-rigid segments realized in thermoplastic polyurethane material and connected through torsional springs. This allows the limb to keep a straight position without the application of forces and facilitates the control of the limb while performing flexion and extension movements. A static model is presented to predict the tension of the tendons in order to reach a defined orientation. Simulations were conducted in a V-REP Python environment to demonstrate the controllability of the limb while performing simple movements and trajectories.

Original languageEnglish
Title of host publication2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages31-35
Number of pages5
ISBN (Electronic)9781728189819
DOIs
Publication statusPublished - Nov 20 2020
Event5th International Conference on Robotics and Automation Engineering, ICRAE 2020 - Virtual, Singapore, Singapore
Duration: Nov 20 2020Nov 22 2020

Publication series

Name2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020

Conference

Conference5th International Conference on Robotics and Automation Engineering, ICRAE 2020
Country/TerritorySingapore
CityVirtual, Singapore
Period11/20/2011/22/20

Keywords

  • Biorobotics
  • Continuous Manipulator.
  • Soft Robotics
  • Tendon Actuation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Mechanical Engineering
  • Control and Optimization

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