Comparison Analysis of Tendon-Driven Manipulators Based on Their Wrench Feasible Workspace - Archive ouverte HAL Access content directly
Conference Papers Year : 2023

Comparison Analysis of Tendon-Driven Manipulators Based on Their Wrench Feasible Workspace

Abstract

This paper focuses on planar manipulators built upon stacking a series of tensegrity X-joints. The manipulators are actuated with four tendons, have different numbers of modules, with or without offsets. The objective of this work is to study the influence of offsets and number of modules on the size of the wrench-feasible workspace (WFW). The comparison analysis is conducted on the basis of equal manipulator height, width and mass and of equal maximal actuation forces. The spring constants pf the X-joints are determined so that the configuration at rest features a C-shape at a given end-effector pose with a minimal stiffness to ensure stability. We show that the more the number of modules, the larger the WFW, and that the offsets have little influence.

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Dates and versions

hal-04121450 , version 1 (07-06-2023)

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Nicolas J S Testard, Christine Chevallereau, Philippe Wenger. Comparison Analysis of Tendon-Driven Manipulators Based on Their Wrench Feasible Workspace. 6th International Conference on Cable-Driven Parallel Robots, Jun 2023, Nantes, France. pp.121-133, ⟨10.1007/978-3-031-32322-5_10⟩. ⟨hal-04121450⟩
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